diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index da20eb870fbc3fd125d4166ab038f7b65337fadc..6e85c4f3cbcb8b0cdab7239362bae306ef72c247 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -346,18 +346,22 @@ if __name__ == "__main__":
             path_pose.translation = path_points_3D[i]
             path.append(plane_pose.act(path_pose))
 
-        print(
-    """
-    look at the viz now! we're constructing a trajectory for the drawing. 
-    it has to look reasonable, otherwise we can't run it!
-    """
-              )
+        if args.viz_path:
+            print(
+        """
+        look at the viz now! we're constructing a trajectory for the drawing. 
+        it has to look reasonable, otherwise we can't run it!
+        """
+                  )
         joint_trajectory = clikCartesianPathIntoJointPath(args, robot, path, \
             clikController, q_init, plane_pose)
-        answer = input("did the movement of the manipulator look reasonable? [Y/n]")
-        if not (answer == "Y" or answer == "y"):
-            print("well if it doesn't look reasonable i'll just exit!")
-            answer = False
+        if args.viz_path:
+            answer = input("did the movement of the manipulator look reasonable? [Y/n]")
+            if not (answer == "Y" or answer == "y"):
+                print("well if it doesn't look reasonable i'll just exit!")
+                answer = False
+            else:
+                answer = True
         else:
             answer = True
     else:
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index d30743d2ab7fb15727a54cb658cc9b92c6d219ed..f2668f7a2d27fdeefd5fd7f825202cd137175a66 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,242 +1,191 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index f2435dcadce445d536b0164e242d12ca9a2273fe..2bbbb96bcfc2ce71d503d049039c7be9dbd00346 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,242 +1,191 @@
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index 953b41a1335fcf9032911fdc8dbcb7fb162834f0..5430e0b4bf296249b80eedb154825fa4f94eacaf 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -29,6 +29,8 @@ def getArgs():
             default=0.001)
     parser.add_argument('--cartesian-space-impedance', action=argparse.BooleanOptionalAction, \
         help="is the impedance computed and added in cartesian or in joint space", default=False)
+    parser.add_argument('--z-only', action=argparse.BooleanOptionalAction, \
+        help="whether you have general impedance or just ee z axis", default=False)
 
     args = parser.parse_args()
     return args
@@ -59,8 +61,10 @@ def controlLoopPointImpedance(args, q_init, controller, robot : RobotManager, i,
     # first-order low pass filtering instead
     # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
     wrench = args.beta * wrench + (1 - args.beta) * past_data['wrench'][-1]
-    Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
-    #Z = np.diag(np.array([0.0, 0.0, 1.0, 0.0, 0.0, 0.0]))
+    if not args.z_only:
+        Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+    else:
+        Z = np.diag(np.array([0.0, 0.0, 1.0, 0.0, 0.0, 0.0]))
     #Z = np.diag(np.ones(6))
 
     wrench = Z @ wrench
@@ -108,7 +112,10 @@ def controlLoopCartesianPointImpedance(args, Mtool_init, clik_controller, robot
     # good generic values
     #Z = np.diag(np.array([1.0, 1.0, 2.0, 1.0, 1.0, 1.0]))
     # but let's stick to the default for now
-    Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+    if not args.z_only:
+        Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+    else:
+        Z = np.diag(np.array([0.0, 0.0, 1.0, 0.0, 0.0, 0.0]))
     #Z = np.diag(np.array([1.0, 1.0, 1.0, 10.0, 10.0, 10.0]))
     #Z = np.diag(np.array([0.0, 0.0, 1.0, 0.0, 0.0, 0.0]))
 
diff --git a/python/ur_simple_control.egg-info/SOURCES.txt b/python/ur_simple_control.egg-info/SOURCES.txt
index 0043b92a0efef223bc34ac44124e0f094d703d33..2ee2c2bb928eebc5b4fada560343da2315a9ec36 100644
--- a/python/ur_simple_control.egg-info/SOURCES.txt
+++ b/python/ur_simple_control.egg-info/SOURCES.txt
@@ -1,12 +1,11 @@
 LICENSE.txt
 README.md
-joint_trajectory.csv
-path_in_pixels.csv
 setup.py
 convenience_tool_box/check_tcp_payload
 convenience_tool_box/currents.png
 convenience_tool_box/frame_validation.py
 convenience_tool_box/freedrive.py
+convenience_tool_box/freedrive_v2.0.py
 convenience_tool_box/ft_readings.py
 convenience_tool_box/fts.png
 convenience_tool_box/jog_example
@@ -16,10 +15,18 @@ convenience_tool_box/open_close_gripper.py
 convenience_tool_box/taus.png
 convenience_tool_box/__pycache__/give_me_the_calibrated_model.cpython-310.pyc
 convenience_tool_box/__pycache__/robotiq_gripper.cpython-310.pyc
+examples/camera_no_lag.py
+examples/casadi_ocp_collision_avoidance.py
 examples/clik.py
+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
+examples/pin_contact3d.py
 examples/planar_dragging_via_top_contact_force.py
 examples/point_impedance_control.py
 examples/pushing_via_friction_cones.py
@@ -27,11 +34,16 @@ examples/test_crocoddyl_opt_ctrl.py
 examples/test_gripper.py
 examples/test_movej.py
 examples/__pycache__/robotiq_gripper.cpython-310.pyc
+examples/data/clik_comparison_0.pickle
+examples/data/clik_comparison_1.pickle
 examples/data/clik_run_001.pickle
 examples/data/clik_run_001_args.pickle
 examples/data/fts.png
 examples/data/joint_trajectory.csv
+examples/data/latest_run
+examples/data/latest_run_0
 examples/data/path_in_pixels.csv
+examples/data/test2_0.pickle
 examples/old_or_experimental/clik_old.py
 examples/old_or_experimental/force_mode_api.py
 examples/old_or_experimental/forcemode_example.py
@@ -108,6 +120,7 @@ ur_simple_control/basics/__pycache__/basics.cpython-310.pyc
 ur_simple_control/basics/__pycache__/basics.cpython-311.pyc
 ur_simple_control/basics/__pycache__/basics.cpython-312.pyc
 ur_simple_control/clik/__init__.py
+ur_simple_control/clik/clik.py
 ur_simple_control/clik/__pycache__/__init__.cpython-310.pyc
 ur_simple_control/clik/__pycache__/__init__.cpython-311.pyc
 ur_simple_control/clik/__pycache__/__init__.cpython-312.pyc
@@ -132,6 +145,12 @@ ur_simple_control/dmp/__pycache__/temporal_coupling.cpython-310.pyc
 ur_simple_control/dmp/trajectories/new_traj.csv
 ur_simple_control/dmp/trajectories/path_in_pixels.csv
 ur_simple_control/dmp/trajectories/ur10_omega_trajectory.csv
+ur_simple_control/optimal_control/__init__.py
+ur_simple_control/optimal_control/create_pinocchio_casadi_ocp.py
+ur_simple_control/optimal_control/crocoddyl_mpc.py
+ur_simple_control/optimal_control/crocoddyl_optimal_control.py
+ur_simple_control/optimal_control/get_ocp_args.py
+ur_simple_control/optimal_control/notes.md
 ur_simple_control/robot_descriptions/__init__.py
 ur_simple_control/robot_descriptions/my_robot_calibration.yaml
 ur_simple_control/robot_descriptions/__pycache__/__init__.cpython-310.pyc
@@ -178,10 +197,12 @@ ur_simple_control/robot_descriptions/urdf/__pycache__/__init__.cpython-312.pyc
 ur_simple_control/util/__init__.py
 ur_simple_control/util/calib_board_hacks.py
 ur_simple_control/util/draw_path.py
+ur_simple_control/util/encapsulating_ellipses.py
 ur_simple_control/util/freedrive.py
 ur_simple_control/util/ft_calibration.py
 ur_simple_control/util/get_model.py
 ur_simple_control/util/logging_utils.py
+ur_simple_control/util/map2DPathTo3DPlane.py
 ur_simple_control/util/path_in_pixels.csv
 ur_simple_control/util/__pycache__/__init__.cpython-310.pyc
 ur_simple_control/util/__pycache__/__init__.cpython-311.pyc
@@ -205,9 +226,14 @@ ur_simple_control/util/__pycache__/logging_utils.cpython-312.pyc
 ur_simple_control/util/__pycache__/robotiq_gripper.cpython-310.pyc
 ur_simple_control/util/__pycache__/robotiq_gripper.cpython-311.pyc
 ur_simple_control/util/__pycache__/robotiq_gripper.cpython-312.pyc
+ur_simple_control/util/grippers/__init__.py
+ur_simple_control/util/grippers/abstract_gripper.py
+ur_simple_control/util/grippers/on_robot/twofg.py
+ur_simple_control/util/grippers/robotiq/robotiq_gripper.py
 ur_simple_control/visualize/__init__.py
 ur_simple_control/visualize/main.py
 ur_simple_control/visualize/make_run.py
+ur_simple_control/visualize/manipulator_comparison_visualizer.py
 ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
 ur_simple_control/visualize/visualize.py
 ur_simple_control/visualize/__pycache__/__init__.cpython-310.pyc
@@ -230,6 +256,9 @@ ur_simple_control/visualize/arms/robot_parameters2
 ur_simple_control/visualize/arms/testing_dh_parameters
 ur_simple_control/visualize/arms/ur10e_dh_parameters_from_the_ur_site
 ur_simple_control/visualize/arms/ur5e_dh
+ur_simple_control/visualize/meshcat_viewer_wrapper/__init__.py
+ur_simple_control/visualize/meshcat_viewer_wrapper/colors.py
+ur_simple_control/visualize/meshcat_viewer_wrapper/visualizer.py
 ur_simple_control/visualize/robot_stuff/InverseKinematics.py
 ur_simple_control/visualize/robot_stuff/drawing.py
 ur_simple_control/visualize/robot_stuff/drawing_for_anim.py
diff --git a/python/ur_simple_control/__pycache__/__init__.cpython-312.pyc b/python/ur_simple_control/__pycache__/__init__.cpython-312.pyc
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diff --git a/python/ur_simple_control/__pycache__/managers.cpython-312.pyc b/python/ur_simple_control/__pycache__/managers.cpython-312.pyc
index 3e0b90f31993c8fb68cd99ad680d26668eed0153..264baf9e4f1638bebd2db4c6ceb8f873c61fa407 100644
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diff --git a/python/ur_simple_control/basics/__pycache__/__init__.cpython-312.pyc b/python/ur_simple_control/basics/__pycache__/__init__.cpython-312.pyc
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diff --git a/python/ur_simple_control/clik/__pycache__/__init__.cpython-312.pyc b/python/ur_simple_control/clik/__pycache__/__init__.cpython-312.pyc
index f8bb567b50b60daa7ddfa22992641874ea904ffb..ae377943be843c28581a25e2d49812d836316b2d 100644
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diff --git a/python/ur_simple_control/clik/clik.py b/python/ur_simple_control/clik/clik.py
index 830838a8e20faf6c81df193b87b1b4d216ab451a..f73351a625cbabad575d484e6e0b8b65588cbb54 100644
--- a/python/ur_simple_control/clik/clik.py
+++ b/python/ur_simple_control/clik/clik.py
@@ -56,6 +56,8 @@ def getClikArgs(parser):
             help="number of max clik iterations to get to the first point", default=10000)
     parser.add_argument('--max-running-clik-iterations', type=int, \
             help="number of max clik iterations between path points", default=1000)
+    parser.add_argument('--viz-path', action=argparse.BooleanOptionalAction, \
+            help="number of max clik iterations between path points", default=False)
     
     return parser
 
@@ -387,8 +389,9 @@ def clikCartesianPathIntoJointPath(args, robot, path, \
         moveL(sim_args, sim_robot, pose)
         # loop logs is a dict, dict keys list preserves input order
         new_q = sim_robot.q.copy() 
-        robot.updateViz(sim_robot.q, sim_robot.T_w_e)
-        time.sleep(0.05)
+        if args.viz_path:
+            robot.updateViz(sim_robot.q, sim_robot.T_w_e)
+            time.sleep(0.05)
         qs.append(new_q[:6])
         # plot this on the real robot
 
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