wrote commetns on what to try

python/examples/fixes_for_demo.md

+1. i'm pretty sure why it goes so far with movej is because you gave it a tight error.
+   well, give it a lax error then. atm there is a single instance where you're running this command,
+   so it's fine, you cares. bottom line is, be above the starting point, and then go down with 
+   dmp which has the force feedback and will ease into it.
+2. throw the low-pass filter away, rock the moving average, that's what worked.
+3. if it will give you trouble, just remove it. write on the bord, that's precise enough.
+4. put in new the new translation and rot mat into old code.
+   replace all (BUT PATH) 2's with 1's to go from the z-axis into the y-axis.
+
+one of these fixes the problem instantly.
+fuck the tuning for the most part, it's mostly ok.
+feel free to play around with it AFTER IT WORKS. 
+but whatever is in there now is not what makes the difference.