diff --git a/.DS_Store b/.DS_Store
index 5d21722..8002f19 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env b/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env
index 7d3e525..68ac059 100644
--- a/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env
+++ b/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env
@@ -7,7 +7,7 @@ LANG=C.UTF-8
 LC_ALL=C.UTF-8
 LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-OLDPWD=/BA
+OLDPWD=/BA/workspace/src
 PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
 PWD=/BA/workspace/build/joint_control
 PYTHONPATH=/BA/workspace/build/painting_robot_control:/BA/workspace/install/painting_robot_control/lib/python3.10/site-packages:/BA/workspace/build/mock_robot:/BA/workspace/install/mock_robot/lib/python3.10/site-packages:/BA/workspace/build/joint_info:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
diff --git a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt
index 19cb741..74965c4 100644
--- a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt
+++ b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt
@@ -13,11 +13,14 @@ joint_control/cart_tcp_server.py
 joint_control/joint_angles_server.py
 joint_control/plugdata.py
 joint_control/plugdata_cart.py
+joint_control/plugdata_cart_fix.py
+joint_control/plugdata_cart_smooth.py
 joint_control/test.py
 joint_control/trajectory_server.py
 joint_control/trajectory_server_cart.py
+joint_control/trajectory_server_cart_fast copy.py
 joint_control/trajectory_server_cart_fast.py
-joint_control/trajectory_server_cart_fast_1.py
+joint_control/trajectory_server_cart_fast_smooth.py
 joint_control.egg-info/PKG-INFO
 joint_control.egg-info/SOURCES.txt
 joint_control.egg-info/dependency_links.txt
diff --git a/workspace/build/joint_control/joint_control.egg-info/entry_points.txt b/workspace/build/joint_control/joint_control.egg-info/entry_points.txt
index bd96f59..0199c65 100644
--- a/workspace/build/joint_control/joint_control.egg-info/entry_points.txt
+++ b/workspace/build/joint_control/joint_control.egg-info/entry_points.txt
@@ -3,9 +3,11 @@ cart_coords = joint_control.cart_tcp_server:main
 joint_control = joint_control.joint_angles_server:main
 plugdata = joint_control.plugdata:main
 plugdata_cart = joint_control.plugdata_cart:main
+plugdata_cart_fix = joint_control.plugdata_cart_fix:main
+plugdata_cart_smooth = joint_control.plugdata_cart_smooth:main
 test = joint_control.test:main
 trajectory_server = joint_control.trajectory_server:main
 trajectory_server_cart = joint_control.trajectory_server_cart:main
 trajectory_server_cart_fast = joint_control.trajectory_server_cart_fast:main
-trajectory_server_cart_fast_1 = joint_control.trajectory_server_cart_fast_1:main
+trajectory_server_cart_fast_smooth = joint_control.trajectory_server_cart_fast_smooth:main
 
diff --git a/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
index 8a68619..3d8afb0 100644
Binary files a/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc and b/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ
diff --git a/workspace/log/latest_build b/workspace/log/latest_build
index 3fcf334..1b59e89 120000
--- a/workspace/log/latest_build
+++ b/workspace/log/latest_build
@@ -1 +1 @@
-build_2025-04-13_11-50-00
\ No newline at end of file
+build_2025-04-17_20-17-24
\ No newline at end of file
diff --git a/workspace/src/joint_angles.py b/workspace/src/joint_angles.py
index 73b456f..eeabd96 100644
--- a/workspace/src/joint_angles.py
+++ b/workspace/src/joint_angles.py
@@ -11,11 +11,11 @@ def main():
 
     
     # Example joint positions to send
-    joint_positions1 = [0.3,0.3, 0.2, 0.0, 0.0, 0.0]
-    joint_positions2 = [0.3,0.1, 0.6, 0.0,0.0, 0.0]
-    joint_positions3 = [0.3,0.4, 0.6, 0.0, 0.0, 0.0]
-    joint_positions4 = [0.4,0.3, 0.2, 0.0, 0.0, 0.0]
-    joint_positions5 = [0.3,0.3, 0.2, 0.0, 0.0, 0.0]
+    joint_positions1 = [-0.5,0.2, 0.6, 0.0, 0.0, 0.0]
+    joint_positions2 = [-0.5,-0.2, 0.6, 0.0,0.0, 0.0]
+    joint_positions3 = [-0.5,-0.3, 0.2, 0.0, 0.0, 0.0]
+    joint_positions4 = [-0.5,0.3, 0.3, 0.0, 0.0, 0.0]
+    joint_positions5 = [-0.5,0.2, 0.6, 0.0, 0.0, 0.0]
 
     msg = oscbuildparse.OSCMessage("/joint_trajectory", None, [joint_positions1, joint_positions2, joint_positions3, joint_positions4, joint_positions5])
     osc_send(msg, "osc_client")
diff --git a/workspace/src/joint_control/setup.py b/workspace/src/joint_control/setup.py
index 701c2b6..5102a7e 100644
--- a/workspace/src/joint_control/setup.py
+++ b/workspace/src/joint_control/setup.py
@@ -26,8 +26,11 @@ setup(
             'trajectory_server = joint_control.trajectory_server:main',
             'trajectory_server_cart = joint_control.trajectory_server_cart:main',
             'trajectory_server_cart_fast = joint_control.trajectory_server_cart_fast:main',
+            'trajectory_server_cart_fast_smooth = joint_control.trajectory_server_cart_fast_smooth:main',
             'plugdata = joint_control.plugdata:main',
             'plugdata_cart = joint_control.plugdata_cart:main',
+            'plugdata_cart_fix = joint_control.plugdata_cart_fix:main',
+            'plugdata_cart_smooth = joint_control.plugdata_cart_smooth:main',
             'test=joint_control.test:main',
         ],
     },