TODOS_2024_09_19

the primary goal is to make this as easy to use as possible,
and that means a docker image that just needs to be built.

goal 1: ease of use
-----------------------
make a docker image installing everything
1. get clik with visualization to work in a ubuntu22 docker - DONE
2. write down the installation process in a Dockerfile - DONE
3. make the container more user friendly: - DONE
  --> use build-user.sh from markus' ros-containers repo to create a user - DONE
  --> folder with some basic goodies like a .bashrc or .zshrc - DONE
  --> some text editor, preferably some bs gui thing - will just use vim instead
4. create a single loadable docker image however you can

the secondary goal is to re-do the documentation and
add the tutorials going from basic linux to python to 
to minimal robotics to the library itself.
to make this less painful clean up the code first.

then just do the pareto optimal code rewrite to make it cleaner
(actually call everything in the step function, maybe finish logging and that's it)

goal 2: clean up the code
---------------------------
1. do all reading and updating into the local class in the step() function --> remove the rest - DONE
2. fix logging a bit (add a function which combines logs of different runs 
                      of a 'session' or at least names all logs in a run)
3. stop doing minor bs asap
4. merge to main

then finish goal 2 by making the docs & tutorialss

goal 3: documentation and tutorials
-----------------------------------
1. documents in text (md/tex) which at least outline the minimal amount of knowledge
2. linux cli video tutorials
2. python essentials video tutorials + some tips on how to learn it quicker (use shell etc)
3. ur_simple_control_library video tutorials, ex. example write circle tracking

set yourself up for research success by using crocoddyl on the real robot,
i.e. get some experience with the basics with the bonus being you can trust
ik not to hit the table

goal 4: more controllers
------------------------
1. finish adding all ik algorithms
2. crocoddyl optimal control with obstacle avoidance (manipulator itself + table/floor is enough)
3. [hard] adjusting the dmp to get back on the path despite external forces 
   (fix the problem of writing on a non-flat surface/whatever) --> publishable side-project

finally, do what you promised and put this on another robot,
thereby rendering this something publishable in joss

goal 5: panda/yumi
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1. transfer the library to panda or yumi or both