structured it as much as i could, i cant do no more today.

README.md

@@ -4,6 +4,11 @@ These tutorials will cover some of the basics of the software stack
 typically used in robotics engineering (Linux, Python), and my library for robot
 control. 
 
+The tutorials are meant to be bare-bones and used 
+just to get your feet wet.
+The idea is to introduce the absolute minimum number of concepts,
+and to empower you and inspire you to learn the rest as you go.
+
 The intended audience are mechanical engineering students 
 at Lund university/LTH. This translates to assuming
 experience in programming and to knowing bachelor level 
@@ -18,14 +23,9 @@ the parts you're familiar with. I do recommend watching
 or at least skipping though all of them 
 to ensure you know the specifics.
 
-The tutorials are meant to be bare-bones and used 
-just to get your feet wet.
-The idea is to introduce the absolute minimum number of concepts,
-and to empower you to learn the rest as you go.
-
 In particular we will cover,
 
-1. Linux Linux CLI basics
+## 1. Linux Linux CLI basics
 ============================
      1.1. why Linux - 1 video
           - no other option
@@ -58,7 +58,11 @@ In particular we will cover,
           - empowerment points:
               - example reading error messing (bad install)
               - man
-     1.4. advanced basics: - 1 bonus video
+     1.4. Docker - 1 video
+         - basically Linux virtual machines
+         - but can be combine with the host (internet access, memory,...) -> VERY fast
+         - images vs containers
+     1.5. advanced basics: - 1 bonus video
           - piping
           - forming a script
           - using git (cloning, add, commit, push, pull (example in docker)) - 1 bonus video
@@ -142,10 +146,6 @@ In particular we will cover,
            i.e. people strong in engineering math, but no necessarily software engineering
          - exposes the math
          - nearly exclusively based on reading the state and sending speed and torque commands
-    3.1. Docker - 1 video
-         - basically Linux virtual machines
-         - but can be combine with the host (internet access, memory,...) -> VERY fast
-         - images vs containers
     3.2. ur_simple_control - 1 video
          - pure python, will get rewritten to C++ with python bindings in the future
          - atm only UR5e is supported, but other robots will be added

linux/01_why_linux.md

-# why linux for (robotics) engineering?
+## why linux for (robotics) engineering?
 ----------------------------------------
 0. there are no other options (same for ai)
 1. open-source
@@ -14,7 +14,7 @@
 --> it's the same system, learn it once know it for all cases
 4. best CLI
 
-# why CLI?
+## why CLI?
 ----------
 0. no GUI on server or raspberry pi --> example: ssh into something
 1. gives errors

linux/02_linux_as_daily_driver.md

-# why linux as a daily driver?
+## why linux as a daily driver?
 ------------------------------
 0. there are only two reasons why you don't have it
     0.1. some apps and games aren't ported
@@ -20,3 +20,11 @@
 4. everything is a text file
 5. any sequence of commands can be put into a script,
    and that can be put on a keybinding or a cron command
+
+### **beauty examples**
+- ubuntu gnome
+- linux mint cinammon
+- kde plasma 
+- you are looking at i3 on arch linux
+- some riced examples
+

linux/03_CLI_basics.md

-1.3. CLI most basic commands 
+## CLI most basic commands 
+**examples**: all listed commands in use
+Content:
 - sudo
 - apt - example update and install htop  
 - ls

linux/04_docker.md

+## Docker
+
+- basically Linux virtual machines
+- can be combine with the host (internet access, memory,...) -> VERY fast
+- but run just fine on windows via wsl
+- images vs containers
+**example**: ur_simple_control dockerfile
+- go over all the flags used there

linux/05_networking.md

+## networking
+
+- serious topic: requires knowledge of operating systems theory,
+  parallelism, IPC, the full internet stack,...
+- we cover just the bare essentials needed to connect to a robot
+  and have an idea of what's going on
+- LAN is not WAN, but it's still very cool
+- IP addresses
+- ports
+- TCP/UDP
+- sockets
+- creating new connections with nm-connection-manager
+- nmcli
+- ip addr
+- arp-scan
+- ping
+- netcat ONLY for checking connection ability

linux/06_advanced_basics.md

+## advanced basics
+- piping
+- forming a script
+- using git (cloning, add, commit, push, pull (example in docker))
+
+## vim
+- just do vimtutor and look at my keystrokes
+- :help something is very well written and useful
+- vim - editing at the speed of thought is book if you want to be an expert

ur_simple_control/01_basic_info_and_intended_audience.md

+## basic info
+
+- pure python
+- alternative to ros
+- designed for simple systems
+- less code (least amount possible)
+- directly exposed math
+- requires only reading states and sending commands
+  to be ported onto a new robot
+- you need ros for a humanoid, autonomous tractor 
+  or other real big systems
+- code developed here is portable to ros, but I need a volunteer to do that
+- intended users are mechanics engineering students,
+i.e. people strong in engineering math, but no necessarily software engineering
+- currently only has support for UR5e and velocity control, but expensions are comming soon
+- will get rewritten to C++ and have python bindings via pybind-11 for the official release
+- easy installation with docker (demonstrate)

ur_simple_control/02_ur_simple_control.md

+## ur_simple_control 
+
+Content:
+- basic use
+- RobotManager
+- ControlLoopManager
+- visualization
+- logging
+
+### basic use
+- every parameter is an argument
+- predefined functions like CompliantMoveL
+
+### RobotManager
+- handles I/O with the robot for you
+- manages pinocchio in step()
+- just call step and use getters
+
+### ControlLoopManager
+- first show the math, explain partial, then go into ControlLoopManager
+- does book-keeping around your control loop math
+- ensures timing is right
+- manages real time visualization and plotting
+- handles killing of the program
+
+### visualization
+- meshcat server, handled by separate process
+- if you want to add more things, look into meshcat
+- define your own function
+
+### real-time plotting
+- matplotlib base, handled in separate process
+- can plot whatever vectors you give it, just send an example in a dictionary
+
+### logging
+- select what you want to track by providing an example dictionary
+- saves the entire run (dictionary of vectors) as a pickle,
+  along with the pickle of the arguments used

ur_simple_control/03_pinocchio.md

+## pinocchio 
+- look at their documentation, do their tutorials if you want more
+- data and model
+- load robot as urdf
+- lie algebra 
+- body vs space frames
+- cheatsheet overview
+- forwardKinematics 
+- just mention dynamics calls

ur_simple_control/04_crocoddyl.md

+will be added later