diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
deleted file mode 100644
index b7c97396aebcf2267653da4c60596a8c43fb31f2..0000000000000000000000000000000000000000
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diff --git a/python/examples/cart_pulling.py b/python/examples/cart_pulling.py
index 66b33e798ae32937abc7fea661ea359407526c69..5687c6fe08ff5ad0c6bb92f2ddbe38f8b8b54e8a 100644
--- a/python/examples/cart_pulling.py
+++ b/python/examples/cart_pulling.py
@@ -117,7 +117,7 @@ def cartPullingControlLoop(args, robot : RobotManager, goal, solver_grasp, solve
     if robot.robot_name != "yumi":
         T_w_e = robot.getT_w_e()
     else:
-        T_w_e_l, T_w_e_right = robot.getT_w_e()
+        T_w_e_left, T_w_e_right = robot.getT_w_e()
 
     # we use binary as string representation (i don't want to deal with python's binary representation).
     # the reason for this is that then we don't have disgusting nested ifs
diff --git a/python/ur_simple_control.egg-info/SOURCES.txt b/python/ur_simple_control.egg-info/SOURCES.txt
index bf3ed08977ae3f5773625f56e8e8db1824a507a8..3780070e45f466b3f46fda3c2e6c4d8217f70215 100644
--- a/python/ur_simple_control.egg-info/SOURCES.txt
+++ b/python/ur_simple_control.egg-info/SOURCES.txt
@@ -22,7 +22,6 @@ examples/comparing_logs_example.py
 examples/crocoddyl_mpc.py
 examples/crocoddyl_ocp_clik.py
 examples/drawing_from_input_drawing.py
-examples/heron_pls.py
 examples/joint_trajectory.csv
 examples/path_following_mpc.py
 examples/path_in_pixels.csv
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diff --git a/python/ur_simple_control/dmp/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/__init__.cpython-310.pyc
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diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc
index e81144824ae642b3e14a08a19d1224855ba643bb..0e29756c453906783f2ec862504e575fe0d94cd1 100644
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diff --git a/python/ur_simple_control/optimal_control/__init__.py b/python/ur_simple_control/optimal_control/__init__.py
index adbd050942478d9957c0384029c66b8e7ac3dd66..1feaec8e968dc9d22865791a63b24db8077af2d7 100644
--- a/python/ur_simple_control/optimal_control/__init__.py
+++ b/python/ur_simple_control/optimal_control/__init__.py
@@ -1,10 +1,10 @@
 import importlib.util
-if importlib.util.find_spec('casadi'):
-    import pinocchio as pin
-    if int(pin.__version__[0]) < 3:
-        print("you need to have pinocchio version 3.0.0 or greater to use pinocchio.casadi!")
-        exit()
-    from .create_pinocchio_casadi_ocp import *
+#if importlib.util.find_spec('casadi'):
+#    import pinocchio as pin
+#    if int(pin.__version__[0]) < 3:
+#        print("you need to have pinocchio version 3.0.0 or greater to use pinocchio.casadi!")
+#        exit()
+#    from .create_pinocchio_casadi_ocp import *
 from .crocoddyl_mpc import *
 from .crocoddyl_optimal_control import *
 from .get_ocp_args import *
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