diff --git a/python/examples/smc_yumi_challenge.py b/python/examples/smc_yumi_challenge.py
index 835fb360daa9b3850c60b557c16d59fd017c05fe..06ae8f7f57d8d46fcf3ca3e365d673f92642643d 100644
--- a/python/examples/smc_yumi_challenge.py
+++ b/python/examples/smc_yumi_challenge.py
@@ -22,6 +22,7 @@ def get_args():
     of various kinds. Make sure you know what the goal is before you run!'
     parser = getClikArgs(parser)
     parser = get_OCP_args(parser)
+    parser.add_argument('--ros-namespace', type=str, default="maskinn", help="you MUST put in ros namespace you're using")
     argcomplete.autocomplete(parser)
     args = parser.parse_args()
     return args
@@ -31,15 +32,19 @@ class ROSCommHandlerMYumi(Node):
     def __init__(self, args, robot_manager : RobotManager, loop_manager : ControlLoopManager):
         super().__init__('ROSCommHandlerHeron')
         
-        self._ns = get_rosified_name(self.get_namespace())
+        # does not work
+        #self._ns = get_rosified_name(self.get_namespace())
+        # so we pass it as an argument
+        self._ns = args.ros_namespace + "/"
         self.get_logger().info(f"### Starting dummy example under namespace {self._ns}")
         
-        self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/base_command", 1)
+        #self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/base_command", 1)
+        self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/command_limiter_node/base/cmd_vel_in_navigation", 1)
         self.pub_vel_left = self.create_publisher(JointState, f"{self._ns}platform/left_arm_command", 1)
         self.pub_vel_right = self.create_publisher(JointState, f"{self._ns}platform/right_arm_command", 1)
         robot_manager.set_publisher_vel_base(self.pub_vel_base)
-        robot_manager.set_publiser_vel_left(self.pub_vel_left)
-        robot_manager.set_publiser_vel_right(self.pub_vel_right)
+        robot_manager.set_publisher_vel_left(self.pub_vel_left)
+        robot_manager.set_publisher_vel_right(self.pub_vel_right)
         
         self.robot_manager = robot_manager
         self.loop_manager = loop_manager
@@ -57,6 +62,7 @@ class ROSCommHandlerMYumi(Node):
         self.sub_base_odom = self.create_subscription(Odometry, f"{self._ns}platform/odometry", self.callback_base_odom, qos_prof)
         # self.sub_amcl = self.create_subscription(PoseWithCovarianceStamped, '/amcl_pose', self.pose_callback, qos_prof)
         self.sub_arms_state = self.create_subscription(JointState, f"{self._ns}platform/joint_states", self.callback_arms_state, qos_prof)
+
         self.names_left = {f"{self._ns}_yumi_robl_joint_{i+1}": i for i in range(7)}
         self.state_left = JointState(name=list(sorted(self.names_left.keys())),
                                      position=[0] * 7,
@@ -149,9 +155,9 @@ def main(args=None):
     if robot.robot_name == "yumi":
         goal.rotation = np.eye(3)
         goal_transform = pin.SE3.Identity()
-#        goal_transform.translation[1] = 0.1
-#        goal_left = goal_transform.act(goal)
-#        goal_left = goal_transform.inverse().act(goal)
+        goal_transform.translation[1] = 0.1
+        goal_left = goal_transform.act(goal)
+        goal_left = goal_transform.inverse().act(goal)
 #        goal = (goal_left, goal_right)
     #loop_manager = CrocoIKMPC(args, robot, goal, run=False)
     loop_manager = moveLDualArm(args, robot, goal, goal_transform, run=False)
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
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diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 4b01fb3050a74e37f0ac2dc8236ddf538939d0b1..48467bbdf32b98a0fbce034211a61f277ba5f70f 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -936,7 +936,16 @@ class RobotManager:
         if self.robot_name == "yumi":
             qd_cmd = np.clip(qd, -1 * self.model.velocityLimit, self.model.velocityLimit)
             self.v_q = qd_cmd
-            self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt)
+            if self.args.pinocchio_only:
+                self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt)
+            else:
+                qd_base = qd[:3]
+                qd_left = qd[3:10]
+                qd_right = qd[10:]
+                self.publisher_vel_base(qd_base)
+                self.publisher_vel_left(qd_left)
+                self.publisher_vel_right(qd_right)
+
             
 
 
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