diff --git a/clik/CMakeLists.txt b/clik/CMakeLists.txt
index 70f9b4224d522fbb689fffe769e2695378bcb237..fa7314297ba77960e1136bd02c96016bdf284c3c 100644
--- a/clik/CMakeLists.txt
+++ b/clik/CMakeLists.txt
@@ -1,5 +1,5 @@
 # TODO idk what the actual minimum version is
-cmake_minimum_required(VERSION 3.27.0)
+cmake_minimum_required(VERSION 3.20.0)
 project(clik)
 set(PROJECT_DESCRIPTION
 		"basic click(s) with ur_rtde and pinocchio"
diff --git a/clik/build/CMakeCache.txt b/clik/build/CMakeCache.txt
index 853868e0573e6535865c8f54a4e6fbbfe14be7b0..90e0beb2607233edc36492d6485669fd39acd05c 100644
--- a/clik/build/CMakeCache.txt
+++ b/clik/build/CMakeCache.txt
@@ -1,6 +1,6 @@
 # This is the CMakeCache file.
 # For build in directory: /home/gospodar/lund/praxis/ur_simple_control/clik/build
-# It was generated by CMake: /home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake
+# It was generated by CMake: /usr/bin/cmake
 # You can edit this file to change values found and used by cmake.
 # If you do not want to change any of the values, simply exit the editor.
 # If you do want to change a value, simply edit, save, and exit the editor.
@@ -71,7 +71,7 @@ CMAKE_BUILD_TYPE:STRING=
 CMAKE_COLOR_MAKEFILE:BOOL=ON
 
 //CXX compiler
-CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+CMAKE_CXX_COMPILER:STRING=/usr/bin/c++
 
 //A wrapper around 'ar' adding the appropriate '--plugin' option
 // for the GCC compiler
@@ -97,7 +97,7 @@ CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
 CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
 
 //C compiler
-CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+CMAKE_C_COMPILER:STRING=/usr/bin/cc
 
 //A wrapper around 'ar' adding the appropriate '--plugin' option
 // for the GCC compiler
@@ -396,17 +396,17 @@ CMAKE_CACHEFILE_DIR:INTERNAL=/home/gospodar/lund/praxis/ur_simple_control/clik/b
 //Major version of cmake used to create the current loaded cache
 CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
 //Minor version of cmake used to create the current loaded cache
-CMAKE_CACHE_MINOR_VERSION:INTERNAL=27
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=22
 //Patch version of cmake used to create the current loaded cache
-CMAKE_CACHE_PATCH_VERSION:INTERNAL=4
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=1
 //ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
 CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
 //Path to CMake executable.
-CMAKE_COMMAND:INTERNAL=/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
 //Path to cpack program executable.
-CMAKE_CPACK_COMMAND:INTERNAL=/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cpack
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
 //Path to ctest program executable.
-CMAKE_CTEST_COMMAND:INTERNAL=/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/ctest
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
 //ADVANCED property for variable: CMAKE_CXX_COMPILER
 CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_CXX_COMPILER_AR
@@ -467,6 +467,8 @@ CMAKE_GENERATOR_PLATFORM:INTERNAL=
 CMAKE_GENERATOR_TOOLSET:INTERNAL=
 //Test CMAKE_HAVE_LIBC_PTHREAD
 CMAKE_HAVE_LIBC_PTHREAD:INTERNAL=1
+//Have include pthread.h
+CMAKE_HAVE_PTHREAD_H:INTERNAL=1
 //Source directory with the top level CMakeLists.txt file for this
 // project
 CMAKE_HOME_DIRECTORY:INTERNAL=/home/gospodar/lund/praxis/ur_simple_control/clik
@@ -501,7 +503,7 @@ CMAKE_RANLIB-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_READELF
 CMAKE_READELF-ADVANCED:INTERNAL=1
 //Path to CMake installation.
-CMAKE_ROOT:INTERNAL=/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/share/cmake-3.27
+CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.22
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
 CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG
@@ -561,8 +563,6 @@ _Python2_Compiler_REASON_FAILURE:INTERNAL=
 _Python2_Development_REASON_FAILURE:INTERNAL=
 //Path to a program.
 _Python2_EXECUTABLE:INTERNAL=_Python2_EXECUTABLE-NOTFOUND
-//Path to a file.
-_Python2_INCLUDE_DIR:INTERNAL=_Python2_INCLUDE_DIR-NOTFOUND
 //Interpreter reason failure
 _Python2_Interpreter_REASON_FAILURE:INTERNAL=
 //Path to a library.
@@ -590,7 +590,7 @@ _Python3_LIBRARY_RELEASE:INTERNAL=/usr/lib/x86_64-linux-gnu/libpython3.10.so
 _Python3_NumPy_REASON_FAILURE:INTERNAL=
 //Result of TRY_COMPILE
 _cxx_standard_build_status:INTERNAL=TRUE
-//Result of try_run()
+//Result of TRY_RUN
 _cxx_standard_run_status:INTERNAL=0
 //ADVANCED property for variable: boost_atomic_DIR
 boost_atomic_DIR-ADVANCED:INTERNAL=1
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diff --git a/clik/build/CMakeFiles/CMakeDirectoryInformation.cmake b/clik/build/CMakeFiles/CMakeDirectoryInformation.cmake
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+++ b/clik/build/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -1,5 +1,5 @@
 # CMAKE generated file: DO NOT EDIT!
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+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
 
 # Relative path conversion top directories.
 set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/gospodar/lund/praxis/ur_simple_control/clik")
diff --git a/clik/build/CMakeFiles/Makefile.cmake b/clik/build/CMakeFiles/Makefile.cmake
index 279ca885df810ad25f808314b70931d05b166f82..bacc02f274e99ceceb1a6f9ff148bcce7455d978 100644
--- a/clik/build/CMakeFiles/Makefile.cmake
+++ b/clik/build/CMakeFiles/Makefile.cmake
@@ -1,5 +1,5 @@
 # CMAKE generated file: DO NOT EDIT!
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+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
 
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 set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
@@ -7,41 +7,10 @@ set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
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-  "/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/share/cmake-3.27/Modules/Platform/Linux-Initialize.cmake"
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-  "CMakeFiles/3.27.4/CMakeCXXCompiler.cmake"
-  "CMakeFiles/3.27.4/CMakeSystem.cmake"
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@@ -151,6 +120,106 @@ set(CMAKE_MAKEFILE_DEPENDS
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   "/usr/local/lib/cmake/ur_rtde/ur_rtdeTargets-noconfig.cmake"
   "/usr/local/lib/cmake/ur_rtde/ur_rtdeTargets.cmake"
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-  /usr/include/net/if.h \
+  /usr/include/pinocchio/gepetto/viewer.hpp \
+  /usr/include/pinocchio/gepetto/viewer/config.hpp \
+  /usr/include/pinocchio/gepetto/viewer.hxx \
+  /opt/openrobots/include/pinocchio/algorithm/frames.hpp \
+  /opt/openrobots/include/pinocchio/algorithm/frames.hxx \
+  /opt/openrobots/include/pinocchio/algorithm/geometry.hpp \
+  /opt/openrobots/include/pinocchio/algorithm/geometry.hxx \
+  /usr/local/include/ur_rtde/robotiq_gripper.h \
+  /usr/local/include/ur_rtde/rtde_export.h \
+  /usr/include/boost/asio/io_service.hpp \
+  /usr/include/boost/asio/io_context.hpp \
+  /usr/include/boost/asio/async_result.hpp \
+  /usr/include/boost/asio/detail/variadic_templates.hpp \
+  /usr/include/boost/asio/detail/wrapped_handler.hpp \
+  /usr/include/boost/asio/detail/bind_handler.hpp \
+  /usr/include/boost/asio/associated_allocator.hpp \
+  /usr/include/boost/asio/associated_executor.hpp \
+  /usr/include/boost/asio/execution/executor.hpp \
+  /usr/include/boost/asio/execution/execute.hpp \
+  /usr/include/boost/asio/execution/detail/as_invocable.hpp \
+  /usr/include/boost/asio/detail/atomic_count.hpp \
+  /usr/include/boost/asio/execution/receiver_invocation_error.hpp \
+  /usr/include/boost/asio/execution/impl/receiver_invocation_error.ipp \
+  /usr/include/boost/asio/execution/set_done.hpp \
+  /usr/include/boost/asio/traits/set_done_member.hpp \
+  /usr/include/boost/asio/traits/set_done_free.hpp \
+  /usr/include/boost/asio/execution/set_error.hpp \
+  /usr/include/boost/asio/traits/set_error_member.hpp \
+  /usr/include/boost/asio/traits/set_error_free.hpp \
+  /usr/include/boost/asio/execution/set_value.hpp \
+  /usr/include/boost/asio/traits/set_value_member.hpp \
+  /usr/include/boost/asio/traits/set_value_free.hpp \
+  /usr/include/boost/asio/execution/detail/as_receiver.hpp \
+  /usr/include/boost/asio/traits/execute_member.hpp \
+  /usr/include/boost/asio/traits/execute_free.hpp \
+  /usr/include/boost/asio/execution/invocable_archetype.hpp \
+  /usr/include/boost/asio/traits/equality_comparable.hpp \
+  /usr/include/boost/asio/is_executor.hpp \
+  /usr/include/boost/asio/detail/is_executor.hpp \
+  /usr/include/boost/asio/system_executor.hpp \
+  /usr/include/boost/asio/execution.hpp \
+  /usr/include/boost/asio/execution/allocator.hpp \
+  /usr/include/boost/asio/execution/scheduler.hpp \
+  /usr/include/boost/asio/execution/schedule.hpp \
+  /usr/include/boost/asio/traits/schedule_member.hpp \
+  /usr/include/boost/asio/traits/schedule_free.hpp \
+  /usr/include/boost/asio/execution/sender.hpp \
+  /usr/include/boost/asio/execution/detail/void_receiver.hpp \
+  /usr/include/boost/asio/execution/receiver.hpp \
+  /usr/include/boost/asio/execution/connect.hpp \
+  /usr/include/boost/asio/execution/detail/as_operation.hpp \
+  /usr/include/boost/asio/traits/start_member.hpp \
+  /usr/include/boost/asio/execution/operation_state.hpp \
+  /usr/include/boost/asio/execution/start.hpp \
+  /usr/include/boost/asio/traits/start_free.hpp \
+  /usr/include/boost/asio/traits/connect_member.hpp \
+  /usr/include/boost/asio/traits/connect_free.hpp \
+  /usr/include/boost/asio/is_applicable_property.hpp \
+  /usr/include/boost/asio/traits/query_static_constexpr_member.hpp \
+  /usr/include/boost/asio/traits/static_query.hpp \
+  /usr/include/boost/asio/execution/any_executor.hpp \
+  /usr/include/boost/asio/detail/assert.hpp \
+  /usr/include/boost/asio/detail/cstddef.hpp \
+  /usr/include/boost/asio/detail/executor_function.hpp \
+  /usr/include/boost/asio/detail/handler_alloc_helpers.hpp \
+  /usr/include/boost/asio/detail/recycling_allocator.hpp \
+  /usr/include/boost/asio/detail/thread_context.hpp \
+  /usr/include/boost/asio/detail/call_stack.hpp \
+  /usr/include/boost/asio/detail/tss_ptr.hpp \
+  /usr/include/boost/asio/detail/keyword_tss_ptr.hpp \
+  /usr/include/boost/asio/detail/thread_info_base.hpp \
+  /usr/include/boost/asio/multiple_exceptions.hpp \
+  /usr/include/boost/asio/impl/multiple_exceptions.ipp \
+  /usr/include/boost/asio/handler_alloc_hook.hpp \
+  /usr/include/boost/asio/impl/handler_alloc_hook.ipp \
+  /usr/include/boost/asio/detail/non_const_lvalue.hpp \
+  /usr/include/boost/asio/detail/scoped_ptr.hpp \
+  /usr/include/boost/asio/execution/bad_executor.hpp \
+  /usr/include/boost/asio/execution/impl/bad_executor.ipp \
+  /usr/include/boost/asio/execution/blocking.hpp \
+  /usr/include/boost/asio/prefer.hpp \
+  /usr/include/boost/asio/traits/prefer_free.hpp \
+  /usr/include/boost/asio/traits/prefer_member.hpp \
+  /usr/include/boost/asio/traits/require_free.hpp \
+  /usr/include/boost/asio/traits/require_member.hpp \
+  /usr/include/boost/asio/traits/static_require.hpp \
+  /usr/include/boost/asio/query.hpp \
+  /usr/include/boost/asio/traits/query_member.hpp \
+  /usr/include/boost/asio/traits/query_free.hpp \
+  /usr/include/boost/asio/require.hpp \
+  /usr/include/boost/asio/execution/blocking_adaptation.hpp \
+  /usr/include/boost/asio/detail/event.hpp \
+  /usr/include/boost/asio/detail/posix_event.hpp \
+  /usr/include/boost/asio/detail/impl/posix_event.ipp \
+  /usr/include/boost/asio/detail/throw_error.hpp \
+  /usr/include/boost/system/error_code.hpp \
+  /usr/include/boost/system/api_config.hpp \
+  /usr/include/boost/system/detail/config.hpp \
+  /usr/include/boost/cerrno.hpp \
+  /usr/include/boost/system/detail/generic_category.hpp \
+  /usr/include/boost/system/detail/system_category_posix.hpp \
+  /usr/include/boost/system/detail/std_interoperability.hpp \
+  /usr/include/c++/11/mutex \
+  /usr/include/c++/11/bits/std_mutex.h \
+  /usr/include/c++/11/bits/unique_lock.h \
+  /usr/include/boost/asio/detail/impl/throw_error.ipp \
+  /usr/include/boost/system/system_error.hpp \
+  /usr/include/boost/asio/error.hpp \
   /usr/include/netdb.h \
   /usr/include/netinet/in.h \
-  /usr/include/netinet/tcp.h \
-  /usr/include/pinocchio/gepetto/viewer.hpp \
-  /usr/include/pinocchio/gepetto/viewer.hxx \
-  /usr/include/pinocchio/gepetto/viewer/config.hpp \
-  /usr/include/poll.h \
-  /usr/include/pthread.h \
-  /usr/include/rpc/netdb.h \
-  /usr/include/sched.h \
-  /usr/include/signal.h \
-  /usr/include/stdc-predef.h \
-  /usr/include/stdint.h \
-  /usr/include/stdio.h \
-  /usr/include/stdlib.h \
-  /usr/include/string.h \
-  /usr/include/strings.h \
-  /usr/include/time.h \
-  /usr/include/unistd.h \
-  /usr/include/wchar.h \
-  /usr/include/wctype.h \
-  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
-  /usr/include/x86_64-linux-gnu/asm/errno.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
-  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
+  /usr/include/x86_64-linux-gnu/sys/socket.h \
+  /usr/include/x86_64-linux-gnu/bits/types/struct_iovec.h \
+  /usr/include/x86_64-linux-gnu/bits/socket.h \
+  /usr/include/x86_64-linux-gnu/bits/socket_type.h \
+  /usr/include/x86_64-linux-gnu/bits/sockaddr.h \
+  /usr/include/x86_64-linux-gnu/asm/socket.h \
+  /usr/include/asm-generic/socket.h \
+  /usr/include/linux/posix_types.h \
+  /usr/include/linux/stddef.h \
   /usr/include/x86_64-linux-gnu/asm/posix_types.h \
   /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
-  /usr/include/x86_64-linux-gnu/asm/socket.h \
+  /usr/include/asm-generic/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
+  /usr/include/asm-generic/bitsperlong.h \
   /usr/include/x86_64-linux-gnu/asm/sockios.h \
-  /usr/include/x86_64-linux-gnu/asm/types.h \
-  /usr/include/x86_64-linux-gnu/bits/atomic_wide_counter.h \
-  /usr/include/x86_64-linux-gnu/bits/byteswap.h \
-  /usr/include/x86_64-linux-gnu/bits/confname.h \
-  /usr/include/x86_64-linux-gnu/bits/cpu-set.h \
-  /usr/include/x86_64-linux-gnu/bits/endian.h \
-  /usr/include/x86_64-linux-gnu/bits/endianness.h \
-  /usr/include/x86_64-linux-gnu/bits/environments.h \
-  /usr/include/x86_64-linux-gnu/bits/epoll.h \
-  /usr/include/x86_64-linux-gnu/bits/errno.h \
-  /usr/include/x86_64-linux-gnu/bits/eventfd.h \
-  /usr/include/x86_64-linux-gnu/bits/fcntl-linux.h \
-  /usr/include/x86_64-linux-gnu/bits/fcntl.h \
-  /usr/include/x86_64-linux-gnu/bits/fcntl2.h \
-  /usr/include/x86_64-linux-gnu/bits/floatn-common.h \
-  /usr/include/x86_64-linux-gnu/bits/floatn.h \
-  /usr/include/x86_64-linux-gnu/bits/flt-eval-method.h \
-  /usr/include/x86_64-linux-gnu/bits/fp-fast.h \
-  /usr/include/x86_64-linux-gnu/bits/fp-logb.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
-  /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
+  /usr/include/asm-generic/sockios.h \
+  /usr/include/x86_64-linux-gnu/bits/types/struct_osockaddr.h \
+  /usr/include/x86_64-linux-gnu/bits/socket2.h \
   /usr/include/x86_64-linux-gnu/bits/in.h \
-  /usr/include/x86_64-linux-gnu/bits/ioctl-types.h \
-  /usr/include/x86_64-linux-gnu/bits/ioctls.h \
-  /usr/include/x86_64-linux-gnu/bits/iscanonical.h \
-  /usr/include/x86_64-linux-gnu/bits/libc-header-start.h \
-  /usr/include/x86_64-linux-gnu/bits/libm-simd-decl-stubs.h \
-  /usr/include/x86_64-linux-gnu/bits/local_lim.h \
-  /usr/include/x86_64-linux-gnu/bits/locale.h \
-  /usr/include/x86_64-linux-gnu/bits/long-double.h \
-  /usr/include/x86_64-linux-gnu/bits/math-vector.h \
-  /usr/include/x86_64-linux-gnu/bits/mathcalls-helper-functions.h \
-  /usr/include/x86_64-linux-gnu/bits/mathcalls-narrow.h \
-  /usr/include/x86_64-linux-gnu/bits/mathcalls.h \
+  /usr/include/rpc/netdb.h \
+  /usr/include/x86_64-linux-gnu/bits/types/sigevent_t.h \
+  /usr/include/x86_64-linux-gnu/bits/types/__sigval_t.h \
   /usr/include/x86_64-linux-gnu/bits/netdb.h \
-  /usr/include/x86_64-linux-gnu/bits/poll.h \
-  /usr/include/x86_64-linux-gnu/bits/poll2.h \
-  /usr/include/x86_64-linux-gnu/bits/posix1_lim.h \
-  /usr/include/x86_64-linux-gnu/bits/posix2_lim.h \
-  /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
-  /usr/include/x86_64-linux-gnu/bits/pthread_stack_min-dynamic.h \
-  /usr/include/x86_64-linux-gnu/bits/pthreadtypes-arch.h \
-  /usr/include/x86_64-linux-gnu/bits/pthreadtypes.h \
-  /usr/include/x86_64-linux-gnu/bits/sched.h \
-  /usr/include/x86_64-linux-gnu/bits/select.h \
-  /usr/include/x86_64-linux-gnu/bits/select2.h \
-  /usr/include/x86_64-linux-gnu/bits/setjmp.h \
-  /usr/include/x86_64-linux-gnu/bits/sigaction.h \
-  /usr/include/x86_64-linux-gnu/bits/sigcontext.h \
-  /usr/include/x86_64-linux-gnu/bits/sigevent-consts.h \
-  /usr/include/x86_64-linux-gnu/bits/siginfo-arch.h \
-  /usr/include/x86_64-linux-gnu/bits/siginfo-consts-arch.h \
-  /usr/include/x86_64-linux-gnu/bits/siginfo-consts.h \
-  /usr/include/x86_64-linux-gnu/bits/signal_ext.h \
-  /usr/include/x86_64-linux-gnu/bits/signum-arch.h \
-  /usr/include/x86_64-linux-gnu/bits/signum-generic.h \
-  /usr/include/x86_64-linux-gnu/bits/sigstack.h \
-  /usr/include/x86_64-linux-gnu/bits/sigstksz.h \
-  /usr/include/x86_64-linux-gnu/bits/sigthread.h \
-  /usr/include/x86_64-linux-gnu/bits/sockaddr.h \
-  /usr/include/x86_64-linux-gnu/bits/socket.h \
-  /usr/include/x86_64-linux-gnu/bits/socket2.h \
-  /usr/include/x86_64-linux-gnu/bits/socket_type.h \
-  /usr/include/x86_64-linux-gnu/bits/ss_flags.h \
+  /usr/include/boost/asio/impl/error.ipp \
+  /usr/include/boost/asio/detail/mutex.hpp \
+  /usr/include/boost/asio/detail/posix_mutex.hpp \
+  /usr/include/boost/asio/detail/scoped_lock.hpp \
+  /usr/include/boost/asio/detail/impl/posix_mutex.ipp \
+  /usr/include/boost/asio/execution/bulk_execute.hpp \
+  /usr/include/boost/asio/execution/bulk_guarantee.hpp \
+  /usr/include/boost/asio/execution/detail/bulk_sender.hpp \
+  /usr/include/boost/asio/traits/bulk_execute_member.hpp \
+  /usr/include/boost/asio/traits/bulk_execute_free.hpp \
+  /usr/include/boost/asio/execution/context.hpp \
+  /usr/include/c++/11/any \
+  /usr/include/boost/asio/execution/context_as.hpp \
+  /usr/include/boost/asio/execution/mapping.hpp \
+  /usr/include/boost/asio/execution/occupancy.hpp \
+  /usr/include/boost/asio/execution/outstanding_work.hpp \
+  /usr/include/boost/asio/execution/prefer_only.hpp \
+  /usr/include/boost/asio/execution/relationship.hpp \
+  /usr/include/boost/asio/execution/submit.hpp \
+  /usr/include/boost/asio/execution/detail/submit_receiver.hpp \
+  /usr/include/boost/asio/traits/submit_member.hpp \
+  /usr/include/boost/asio/traits/submit_free.hpp \
+  /usr/include/boost/asio/impl/system_executor.hpp \
+  /usr/include/boost/asio/detail/executor_op.hpp \
+  /usr/include/boost/asio/detail/fenced_block.hpp \
+  /usr/include/boost/asio/detail/std_fenced_block.hpp \
+  /usr/include/boost/asio/detail/handler_invoke_helpers.hpp \
+  /usr/include/boost/asio/handler_invoke_hook.hpp \
+  /usr/include/boost/asio/detail/scheduler_operation.hpp \
+  /usr/include/boost/asio/detail/handler_tracking.hpp \
+  /usr/include/boost/asio/detail/impl/handler_tracking.ipp \
+  /usr/include/boost/asio/detail/op_queue.hpp \
+  /usr/include/boost/asio/detail/global.hpp \
+  /usr/include/boost/asio/detail/posix_global.hpp \
+  /usr/include/boost/asio/system_context.hpp \
+  /usr/include/boost/asio/detail/scheduler.hpp \
+  /usr/include/boost/asio/execution_context.hpp \
+  /usr/include/boost/asio/impl/execution_context.hpp \
+  /usr/include/boost/asio/detail/handler_type_requirements.hpp \
+  /usr/include/boost/asio/detail/service_registry.hpp \
+  /usr/include/boost/asio/detail/impl/service_registry.hpp \
+  /usr/include/boost/asio/detail/impl/service_registry.ipp \
+  /usr/include/boost/asio/impl/execution_context.ipp \
+  /usr/include/boost/asio/detail/conditionally_enabled_event.hpp \
+  /usr/include/boost/asio/detail/conditionally_enabled_mutex.hpp \
+  /usr/include/boost/asio/detail/null_event.hpp \
+  /usr/include/boost/asio/detail/impl/null_event.ipp \
+  /usr/include/boost/asio/detail/reactor_fwd.hpp \
+  /usr/include/boost/asio/detail/thread.hpp \
+  /usr/include/boost/asio/detail/posix_thread.hpp \
+  /usr/include/boost/asio/detail/impl/posix_thread.ipp \
+  /usr/include/boost/asio/detail/impl/scheduler.ipp \
+  /usr/include/boost/asio/detail/concurrency_hint.hpp \
+  /usr/include/boost/asio/detail/reactor.hpp \
+  /usr/include/boost/asio/detail/epoll_reactor.hpp \
+  /usr/include/boost/asio/detail/object_pool.hpp \
+  /usr/include/boost/asio/detail/reactor_op.hpp \
+  /usr/include/boost/asio/detail/operation.hpp \
+  /usr/include/boost/asio/detail/select_interrupter.hpp \
+  /usr/include/boost/asio/detail/eventfd_select_interrupter.hpp \
+  /usr/include/boost/asio/detail/impl/eventfd_select_interrupter.ipp \
+  /usr/include/x86_64-linux-gnu/sys/stat.h \
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-  /usr/include/x86_64-linux-gnu/bits/stdint-intn.h \
-  /usr/include/x86_64-linux-gnu/bits/stdint-uintn.h \
-  /usr/include/x86_64-linux-gnu/bits/stdio.h \
-  /usr/include/x86_64-linux-gnu/bits/stdio2.h \
-  /usr/include/x86_64-linux-gnu/bits/stdio_lim.h \
-  /usr/include/x86_64-linux-gnu/bits/stdlib-bsearch.h \
-  /usr/include/x86_64-linux-gnu/bits/stdlib-float.h \
-  /usr/include/x86_64-linux-gnu/bits/stdlib.h \
-  /usr/include/x86_64-linux-gnu/bits/string_fortified.h \
-  /usr/include/x86_64-linux-gnu/bits/strings_fortified.h \
-  /usr/include/x86_64-linux-gnu/bits/struct_mutex.h \
-  /usr/include/x86_64-linux-gnu/bits/struct_rwlock.h \
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-  /usr/include/x86_64-linux-gnu/bits/thread-shared-types.h \
-  /usr/include/x86_64-linux-gnu/bits/time.h \
-  /usr/include/x86_64-linux-gnu/bits/time64.h \
+  /usr/include/x86_64-linux-gnu/bits/statx.h \
+  /usr/include/linux/stat.h \
+  /usr/include/linux/types.h \
+  /usr/include/x86_64-linux-gnu/asm/types.h \
+  /usr/include/asm-generic/types.h \
+  /usr/include/asm-generic/int-ll64.h \
+  /usr/include/x86_64-linux-gnu/bits/statx-generic.h \
+  /usr/include/x86_64-linux-gnu/bits/types/struct_statx_timestamp.h \
+  /usr/include/x86_64-linux-gnu/bits/types/struct_statx.h \
+  /usr/include/fcntl.h \
+  /usr/include/x86_64-linux-gnu/bits/fcntl.h \
+  /usr/include/x86_64-linux-gnu/bits/fcntl-linux.h \
+  /usr/include/linux/falloc.h \
+  /usr/include/x86_64-linux-gnu/bits/fcntl2.h \
+  /usr/include/x86_64-linux-gnu/sys/eventfd.h \
+  /usr/include/x86_64-linux-gnu/bits/eventfd.h \
+  /usr/include/boost/asio/detail/cstdint.hpp \
+  /usr/include/boost/asio/detail/socket_types.hpp \
+  /usr/include/x86_64-linux-gnu/sys/ioctl.h \
+  /usr/include/x86_64-linux-gnu/bits/ioctls.h \
+  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
+  /usr/include/asm-generic/ioctls.h \
+  /usr/include/linux/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
+  /usr/include/asm-generic/ioctl.h \
+  /usr/include/x86_64-linux-gnu/bits/ioctl-types.h \
+  /usr/include/x86_64-linux-gnu/sys/ttydefaults.h \
+  /usr/include/poll.h \
+  /usr/include/x86_64-linux-gnu/sys/poll.h \
+  /usr/include/x86_64-linux-gnu/bits/poll.h \
+  /usr/include/x86_64-linux-gnu/bits/poll2.h \
+  /usr/include/x86_64-linux-gnu/sys/uio.h \
+  /usr/include/x86_64-linux-gnu/bits/uio-ext.h \
+  /usr/include/x86_64-linux-gnu/sys/un.h \
+  /usr/include/netinet/tcp.h \
+  /usr/include/arpa/inet.h \
+  /usr/include/net/if.h \
+  /usr/include/boost/asio/detail/timer_queue_base.hpp \
+  /usr/include/boost/asio/detail/timer_queue_set.hpp \
+  /usr/include/boost/asio/detail/impl/timer_queue_set.ipp \
+  /usr/include/boost/asio/detail/wait_op.hpp \
+  /usr/include/x86_64-linux-gnu/sys/timerfd.h \
   /usr/include/x86_64-linux-gnu/bits/timerfd.h \
-  /usr/include/x86_64-linux-gnu/bits/timesize.h \
-  /usr/include/x86_64-linux-gnu/bits/timex.h \
-  /usr/include/x86_64-linux-gnu/bits/types.h \
-  /usr/include/x86_64-linux-gnu/bits/types/FILE.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__FILE.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__fpos64_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__fpos_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__locale_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__mbstate_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__sigset_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/__sigval_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/clock_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/clockid_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/cookie_io_functions_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/error_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/locale_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/mbstate_t.h \
+  /usr/include/boost/asio/detail/impl/epoll_reactor.hpp \
+  /usr/include/boost/asio/detail/impl/epoll_reactor.ipp \
+  /usr/include/x86_64-linux-gnu/sys/epoll.h \
+  /usr/include/x86_64-linux-gnu/bits/epoll.h \
+  /usr/include/boost/asio/detail/scheduler_thread_info.hpp \
+  /usr/include/boost/asio/detail/signal_blocker.hpp \
+  /usr/include/boost/asio/detail/posix_signal_blocker.hpp \
+  /usr/include/c++/11/csignal \
+  /usr/include/signal.h \
+  /usr/include/x86_64-linux-gnu/bits/signum-generic.h \
+  /usr/include/x86_64-linux-gnu/bits/signum-arch.h \
   /usr/include/x86_64-linux-gnu/bits/types/sig_atomic_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/sigevent_t.h \
   /usr/include/x86_64-linux-gnu/bits/types/siginfo_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/sigset_t.h \
+  /usr/include/x86_64-linux-gnu/bits/siginfo-arch.h \
+  /usr/include/x86_64-linux-gnu/bits/siginfo-consts.h \
+  /usr/include/x86_64-linux-gnu/bits/siginfo-consts-arch.h \
   /usr/include/x86_64-linux-gnu/bits/types/sigval_t.h \
+  /usr/include/x86_64-linux-gnu/bits/sigevent-consts.h \
+  /usr/include/x86_64-linux-gnu/bits/sigaction.h \
+  /usr/include/x86_64-linux-gnu/bits/sigcontext.h \
   /usr/include/x86_64-linux-gnu/bits/types/stack_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_FILE.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_iovec.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_itimerspec.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_osockaddr.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_sched_param.h \
+  /usr/include/x86_64-linux-gnu/sys/ucontext.h \
+  /usr/include/x86_64-linux-gnu/bits/sigstack.h \
+  /usr/include/x86_64-linux-gnu/bits/sigstksz.h \
+  /usr/include/x86_64-linux-gnu/bits/ss_flags.h \
   /usr/include/x86_64-linux-gnu/bits/types/struct_sigstack.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_statx.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_statx_timestamp.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_timespec.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_timeval.h \
-  /usr/include/x86_64-linux-gnu/bits/types/struct_tm.h \
-  /usr/include/x86_64-linux-gnu/bits/types/time_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/timer_t.h \
-  /usr/include/x86_64-linux-gnu/bits/types/wint_t.h \
-  /usr/include/x86_64-linux-gnu/bits/typesizes.h \
-  /usr/include/x86_64-linux-gnu/bits/uintn-identity.h \
-  /usr/include/x86_64-linux-gnu/bits/uio-ext.h \
-  /usr/include/x86_64-linux-gnu/bits/uio_lim.h \
-  /usr/include/x86_64-linux-gnu/bits/unistd.h \
-  /usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
-  /usr/include/x86_64-linux-gnu/bits/waitflags.h \
-  /usr/include/x86_64-linux-gnu/bits/waitstatus.h \
-  /usr/include/x86_64-linux-gnu/bits/wchar.h \
-  /usr/include/x86_64-linux-gnu/bits/wchar2.h \
-  /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
-  /usr/include/x86_64-linux-gnu/bits/wordsize.h \
-  /usr/include/x86_64-linux-gnu/bits/xopen_lim.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/atomic_word.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++allocator.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++config.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/c++locale.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/cpu_defines.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/cxxabi_tweaks.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/gthr-default.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/opt_random.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h \
-  /usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
-  /usr/include/x86_64-linux-gnu/gnu/stubs-64.h \
-  /usr/include/x86_64-linux-gnu/gnu/stubs.h \
-  /usr/include/x86_64-linux-gnu/sys/cdefs.h \
-  /usr/include/x86_64-linux-gnu/sys/epoll.h \
-  /usr/include/x86_64-linux-gnu/sys/eventfd.h \
-  /usr/include/x86_64-linux-gnu/sys/ioctl.h \
-  /usr/include/x86_64-linux-gnu/sys/poll.h \
-  /usr/include/x86_64-linux-gnu/sys/select.h \
-  /usr/include/x86_64-linux-gnu/sys/single_threaded.h \
-  /usr/include/x86_64-linux-gnu/sys/socket.h \
-  /usr/include/x86_64-linux-gnu/sys/stat.h \
+  /usr/include/x86_64-linux-gnu/bits/sigthread.h \
+  /usr/include/x86_64-linux-gnu/bits/signal_ext.h \
+  /usr/include/boost/asio/detail/thread_group.hpp \
+  /usr/include/boost/asio/impl/system_context.hpp \
+  /usr/include/boost/asio/impl/system_context.ipp \
+  /usr/include/boost/asio/detail/handler_cont_helpers.hpp \
+  /usr/include/boost/asio/handler_continuation_hook.hpp \
+  /usr/include/boost/asio/detail/chrono.hpp \
+  /usr/include/boost/asio/impl/io_context.hpp \
+  /usr/include/boost/asio/detail/completion_handler.hpp \
+  /usr/include/boost/asio/detail/handler_work.hpp \
+  /usr/include/boost/asio/executor_work_guard.hpp \
+  /usr/include/boost/asio/impl/io_context.ipp \
+  /usr/include/boost/asio/ip/tcp.hpp \
+  /usr/include/boost/asio/basic_socket_acceptor.hpp \
+  /usr/include/boost/asio/any_io_executor.hpp \
+  /usr/include/boost/asio/basic_socket.hpp \
+  /usr/include/boost/asio/detail/io_object_impl.hpp \
+  /usr/include/boost/asio/post.hpp \
+  /usr/include/boost/asio/impl/post.hpp \
+  /usr/include/boost/asio/detail/work_dispatcher.hpp \
+  /usr/include/boost/asio/socket_base.hpp \
+  /usr/include/boost/asio/detail/io_control.hpp \
+  /usr/include/boost/asio/detail/socket_option.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_service.hpp \
+  /usr/include/boost/asio/detail/buffer_sequence_adapter.hpp \
+  /usr/include/boost/asio/detail/impl/buffer_sequence_adapter.ipp \
+  /usr/include/boost/asio/detail/reactive_null_buffers_op.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_accept_op.hpp \
+  /usr/include/boost/asio/detail/socket_holder.hpp \
+  /usr/include/boost/asio/detail/socket_ops.hpp \
+  /usr/include/boost/asio/detail/impl/socket_ops.ipp \
+  /usr/include/boost/asio/detail/reactive_socket_connect_op.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_recvfrom_op.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_sendto_op.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_service_base.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_recv_op.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_recvmsg_op.hpp \
+  /usr/include/boost/asio/detail/reactive_socket_send_op.hpp \
+  /usr/include/boost/asio/detail/reactive_wait_op.hpp \
+  /usr/include/boost/asio/detail/impl/reactive_socket_service_base.ipp \
+  /usr/include/boost/asio/basic_socket_iostream.hpp \
+  /usr/include/boost/asio/basic_socket_streambuf.hpp \
+  /usr/include/boost/asio/basic_stream_socket.hpp \
+  /usr/include/boost/asio/steady_timer.hpp \
+  /usr/include/boost/asio/basic_waitable_timer.hpp \
+  /usr/include/boost/asio/detail/chrono_time_traits.hpp \
+  /usr/include/boost/asio/detail/deadline_timer_service.hpp \
+  /usr/include/boost/asio/detail/timer_queue.hpp \
+  /usr/include/boost/asio/detail/date_time_fwd.hpp \
+  /usr/include/boost/asio/detail/timer_queue_ptime.hpp \
+  /usr/include/boost/asio/time_traits.hpp \
+  /usr/include/boost/date_time/posix_time/posix_time_types.hpp \
+  /usr/include/boost/date_time/time_clock.hpp \
+  /usr/include/boost/date_time/c_time.hpp \
+  /usr/include/boost/date_time/compiler_config.hpp \
+  /usr/include/boost/date_time/locale_config.hpp \
   /usr/include/x86_64-linux-gnu/sys/time.h \
-  /usr/include/x86_64-linux-gnu/sys/timerfd.h \
-  /usr/include/x86_64-linux-gnu/sys/ttydefaults.h \
-  /usr/include/x86_64-linux-gnu/sys/types.h \
-  /usr/include/x86_64-linux-gnu/sys/ucontext.h \
-  /usr/include/x86_64-linux-gnu/sys/uio.h \
-  /usr/include/x86_64-linux-gnu/sys/un.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/float.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/limits.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/mm_malloc.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/mmintrin.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/stdarg.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/stddef.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/stdint.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h \
-  /usr/lib/gcc/x86_64-linux-gnu/11/include/xmmintrin.h \
-  /usr/local/include/ur_rtde/robot_state.h \
-  /usr/local/include/ur_rtde/robotiq_gripper.h \
-  /usr/local/include/ur_rtde/rtde.h \
+  /usr/include/boost/shared_ptr.hpp \
+  /usr/include/boost/date_time/microsec_time_clock.hpp \
+  /usr/include/boost/date_time/posix_time/ptime.hpp \
+  /usr/include/boost/date_time/posix_time/posix_time_system.hpp \
+  /usr/include/boost/date_time/posix_time/posix_time_config.hpp \
+  /usr/include/boost/date_time/time_duration.hpp \
+  /usr/include/boost/date_time/special_defs.hpp \
+  /usr/include/boost/date_time/time_defs.hpp \
+  /usr/include/boost/date_time/time_resolution_traits.hpp \
+  /usr/include/boost/date_time/int_adapter.hpp \
+  /usr/include/boost/date_time/gregorian/gregorian_types.hpp \
+  /usr/include/boost/date_time/date.hpp \
+  /usr/include/boost/date_time/year_month_day.hpp \
+  /usr/include/boost/date_time/period.hpp \
+  /usr/include/boost/date_time/gregorian/greg_calendar.hpp \
+  /usr/include/boost/date_time/gregorian/greg_weekday.hpp \
+  /usr/include/boost/date_time/constrained_value.hpp \
+  /usr/include/boost/date_time/date_defs.hpp \
+  /usr/include/boost/date_time/gregorian/greg_day_of_year.hpp \
+  /usr/include/boost/date_time/gregorian_calendar.hpp \
+  /usr/include/boost/date_time/gregorian_calendar.ipp \
+  /usr/include/boost/date_time/gregorian/greg_ymd.hpp \
+  /usr/include/boost/date_time/gregorian/greg_day.hpp \
+  /usr/include/boost/date_time/gregorian/greg_year.hpp \
+  /usr/include/boost/date_time/gregorian/greg_month.hpp \
+  /usr/include/boost/date_time/gregorian/greg_duration.hpp \
+  /usr/include/boost/date_time/date_duration.hpp \
+  /usr/include/boost/date_time/date_duration_types.hpp \
+  /usr/include/boost/date_time/gregorian/greg_duration_types.hpp \
+  /usr/include/boost/date_time/gregorian/greg_date.hpp \
+  /usr/include/boost/date_time/adjust_functors.hpp \
+  /usr/include/boost/date_time/wrapping_int.hpp \
+  /usr/include/boost/date_time/date_generators.hpp \
+  /usr/include/boost/date_time/date_clock_device.hpp \
+  /usr/include/boost/date_time/date_iterator.hpp \
+  /usr/include/boost/date_time/time_system_split.hpp \
+  /usr/include/boost/date_time/time_system_counted.hpp \
+  /usr/include/boost/date_time/time.hpp \
+  /usr/include/boost/date_time/posix_time/date_duration_operators.hpp \
+  /usr/include/boost/date_time/posix_time/posix_time_duration.hpp \
+  /usr/include/boost/date_time/posix_time/time_period.hpp \
+  /usr/include/boost/date_time/time_iterator.hpp \
+  /usr/include/boost/date_time/dst_rules.hpp \
+  /usr/include/boost/asio/detail/impl/timer_queue_ptime.ipp \
+  /usr/include/boost/asio/detail/timer_scheduler.hpp \
+  /usr/include/boost/asio/detail/timer_scheduler_fwd.hpp \
+  /usr/include/boost/asio/detail/wait_handler.hpp \
+  /usr/include/boost/asio/wait_traits.hpp \
+  /usr/include/boost/asio/ip/basic_endpoint.hpp \
+  /usr/include/boost/asio/ip/address.hpp \
+  /usr/include/boost/asio/ip/address_v4.hpp \
+  /usr/include/boost/asio/detail/array.hpp \
+  /usr/include/boost/asio/detail/winsock_init.hpp \
+  /usr/include/boost/asio/ip/impl/address_v4.hpp \
+  /usr/include/boost/asio/ip/impl/address_v4.ipp \
+  /usr/include/boost/asio/ip/address_v6.hpp \
+  /usr/include/boost/asio/ip/impl/address_v6.hpp \
+  /usr/include/boost/asio/ip/impl/address_v6.ipp \
+  /usr/include/boost/asio/ip/bad_address_cast.hpp \
+  /usr/include/boost/asio/ip/impl/address.hpp \
+  /usr/include/boost/asio/ip/impl/address.ipp \
+  /usr/include/boost/asio/ip/detail/endpoint.hpp \
+  /usr/include/boost/asio/ip/detail/impl/endpoint.ipp \
+  /usr/include/boost/asio/ip/impl/basic_endpoint.hpp \
+  /usr/include/boost/asio/ip/basic_resolver.hpp \
+  /usr/include/boost/asio/ip/basic_resolver_iterator.hpp \
+  /usr/include/boost/asio/ip/basic_resolver_entry.hpp \
+  /usr/include/boost/asio/ip/basic_resolver_query.hpp \
+  /usr/include/boost/asio/ip/resolver_query_base.hpp \
+  /usr/include/boost/asio/ip/resolver_base.hpp \
+  /usr/include/boost/asio/ip/basic_resolver_results.hpp \
+  /usr/include/boost/asio/detail/resolver_service.hpp \
+  /usr/include/boost/asio/detail/resolve_endpoint_op.hpp \
+  /usr/include/boost/asio/detail/resolve_op.hpp \
+  /usr/include/boost/asio/detail/resolve_query_op.hpp \
+  /usr/include/boost/asio/detail/resolver_service_base.hpp \
+  /usr/include/boost/asio/detail/impl/resolver_service_base.ipp \
+  /usr/include/boost/asio/deadline_timer.hpp \
+  /usr/include/boost/asio/basic_deadline_timer.hpp \
   /usr/local/include/ur_rtde/rtde_control_interface.h \
-  /usr/local/include/ur_rtde/rtde_export.h \
-  /usr/local/include/ur_rtde/rtde_receive_interface.h \
+  /usr/local/include/ur_rtde/rtde.h \
   /usr/local/include/ur_rtde/rtde_utility.h \
-  /usr/local/include/urcl/log.h \
   /usr/local/include/urcl/script_sender.h \
-  /usr/local/include/urcl/tcp_server.h
-
-
-/usr/local/include/urcl/script_sender.h:
-
-/usr/local/include/urcl/log.h:
-
-/usr/local/include/ur_rtde/rtde_receive_interface.h:
-
-/usr/local/include/ur_rtde/rtde_control_interface.h:
+  /usr/local/include/urcl/tcp_server.h \
+  /usr/local/include/urcl/log.h \
+  /usr/include/c++/11/cinttypes \
+  /usr/include/inttypes.h \
+  /usr/local/include/ur_rtde/rtde_receive_interface.h \
+  /usr/local/include/ur_rtde/robot_state.h \
+  /usr/include/c++/11/filesystem \
+  /usr/include/c++/11/bits/fs_fwd.h \
+  /usr/include/c++/11/bits/fs_path.h \
+  /usr/include/c++/11/codecvt \
+  /usr/include/c++/11/bits/fs_dir.h \
+  /usr/include/c++/11/bits/fs_ops.h
 
-/usr/local/include/ur_rtde/rtde.h:
 
-/usr/local/include/ur_rtde/robot_state.h:
+/usr/include/c++/11/bits/fs_ops.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h:
+/usr/include/c++/11/bits/fs_dir.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/stdint.h:
+/usr/include/c++/11/codecvt:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/mmintrin.h:
+/usr/include/c++/11/bits/fs_path.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/float.h:
+/usr/include/c++/11/bits/fs_fwd.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h:
+/usr/include/c++/11/filesystem:
 
-/usr/include/x86_64-linux-gnu/sys/uio.h:
+/usr/local/include/ur_rtde/rtde_receive_interface.h:
 
-/usr/include/x86_64-linux-gnu/sys/ucontext.h:
+/usr/include/inttypes.h:
 
-/usr/include/x86_64-linux-gnu/sys/ttydefaults.h:
+/usr/include/c++/11/cinttypes:
 
-/usr/include/x86_64-linux-gnu/sys/timerfd.h:
+/usr/local/include/urcl/tcp_server.h:
 
-/usr/include/x86_64-linux-gnu/sys/stat.h:
+/usr/local/include/urcl/script_sender.h:
 
-/usr/include/x86_64-linux-gnu/sys/socket.h:
+/usr/local/include/ur_rtde/rtde_utility.h:
 
-/usr/include/x86_64-linux-gnu/sys/single_threaded.h:
+/usr/include/boost/asio/basic_deadline_timer.hpp:
 
-/usr/include/x86_64-linux-gnu/sys/epoll.h:
+/usr/include/boost/asio/deadline_timer.hpp:
 
-/usr/include/x86_64-linux-gnu/gnu/stubs.h:
+/usr/include/boost/asio/detail/impl/resolver_service_base.ipp:
 
-/usr/include/x86_64-linux-gnu/gnu/stubs-64.h:
+/usr/include/boost/asio/detail/resolver_service_base.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
+/usr/include/boost/asio/detail/resolve_query_op.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/os_defines.h:
+/usr/include/boost/asio/detail/resolve_op.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/opt_random.h:
+/usr/include/boost/asio/detail/resolve_endpoint_op.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
+/usr/include/boost/asio/detail/resolver_service.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h:
+/usr/include/boost/asio/ip/basic_resolver_query.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h:
+/usr/include/boost/asio/ip/basic_resolver_entry.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h:
+/usr/include/boost/asio/ip/basic_resolver_iterator.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h:
+/usr/include/boost/asio/ip/basic_resolver.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++config.h:
+/usr/include/boost/asio/ip/detail/impl/endpoint.ipp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/c++allocator.h:
+/usr/include/boost/asio/ip/detail/endpoint.hpp:
 
-/usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h:
+/usr/include/boost/asio/ip/impl/address.ipp:
 
-/usr/include/x86_64-linux-gnu/bits/wctype-wchar.h:
+/usr/include/boost/asio/ip/bad_address_cast.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/wchar2.h:
+/usr/include/boost/asio/ip/impl/address_v6.ipp:
 
-/usr/include/x86_64-linux-gnu/bits/wchar.h:
+/usr/include/boost/asio/ip/impl/address_v4.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/waitstatus.h:
+/usr/include/boost/asio/detail/winsock_init.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/waitflags.h:
+/usr/include/boost/asio/ip/basic_endpoint.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/unistd_ext.h:
+/usr/include/boost/asio/wait_traits.hpp:
 
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-/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsArrayAPI.h:
+/usr/include/boost/asio/detail/std_fenced_block.hpp:
 
-/usr/include/boost/asio/ip/basic_resolver_iterator.hpp:
+/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:
 
-/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsFunctors.h:
+/usr/include/boost/asio/system_context.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/floatn-common.h:
+/usr/include/boost/preprocessor/facilities/empty.hpp:
 
-/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h:
+/usr/include/x86_64-linux-gnu/bits/ioctls.h:
 
-/usr/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h:
+/usr/include/boost/asio/impl/execution_context.hpp:
 
-/usr/include/boost/fusion/iterator/deref.hpp:
+/usr/include/boost/variant/detail/apply_visitor_delayed.hpp:
 
-/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h:
+/usr/include/boost/asio/detail/impl/service_registry.hpp:
 
-/usr/include/boost/fusion/algorithm/iteration/reverse_iter_fold_fwd.hpp:
+/usr/include/boost/asio/detail/epoll_reactor.hpp:
 
-/usr/include/fcntl.h:
+/usr/include/x86_64-linux-gnu/bits/statx.h:
 
-/usr/include/x86_64-linux-gnu/bits/epoll.h:
+/usr/include/boost/fusion/view/joint_view/detail/key_of_impl.hpp:
 
-/usr/include/boost/predef/os/macos.h:
+/usr/include/boost/fusion/mpl/end.hpp:
 
-/usr/include/boost/fusion/container/generation/make_vector.hpp:
+/usr/include/linux/stat.h:
 
-/usr/include/features-time64.h:
+/usr/include/linux/types.h:
 
-/usr/include/libintl.h:
+/usr/include/x86_64-linux-gnu/asm/types.h:
 
-/usr/include/boost/mpl/aux_/iter_apply.hpp:
+/usr/include/boost/asio/execution/submit.hpp:
 
-/usr/include/linux/falloc.h:
+/usr/include/asm-generic/types.h:
 
-/usr/include/linux/limits.h:
+/usr/include/asm-generic/int-ll64.h:
 
-/usr/include/linux/version.h:
+/usr/include/x86_64-linux-gnu/bits/statx-generic.h:
 
-/usr/include/boost/preprocessor/list/detail/fold_left.hpp:
+/usr/include/x86_64-linux-gnu/bits/types/struct_statx_timestamp.h:
 
-/usr/include/math.h:
+/usr/include/c++/11/string_view:
 
-/usr/include/netdb.h:
+/usr/include/c++/11/clocale:
 
-/usr/include/netinet/in.h:
+/usr/include/x86_64-linux-gnu/bits/fcntl.h:
 
-/usr/include/pthread.h:
+/usr/include/linux/falloc.h:
 
-/usr/include/sched.h:
+/usr/include/boost/asio/detail/socket_types.hpp:
 
-/usr/include/boost/fusion/mpl/insert.hpp:
+/usr/include/x86_64-linux-gnu/asm/ioctls.h:
 
-/usr/include/stdc-predef.h:
+/usr/include/asm-generic/ioctls.h:
 
-/usr/include/strings.h:
+/usr/include/linux/ioctl.h:
 
-/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
+/usr/include/boost/mpl/long_fwd.hpp:
 
-/usr/include/x86_64-linux-gnu/asm/errno.h:
+/usr/include/boost/preprocessor/logical/and.hpp:
 
 /usr/include/x86_64-linux-gnu/asm/ioctl.h:
 
-/usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
+/usr/include/boost/iterator/iterator_adaptor.hpp:
 
-/usr/include/boost/asio/detail/impl/epoll_reactor.hpp:
+/usr/include/boost/smart_ptr/make_shared_object.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/byteswap.h:
+/usr/include/asm-generic/ioctl.h:
 
-/usr/include/x86_64-linux-gnu/bits/confname.h:
+/usr/include/boost/archive/detail/iserializer.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/endian.h:
+/usr/include/poll.h:
 
-/usr/include/x86_64-linux-gnu/bits/endianness.h:
+/usr/include/x86_64-linux-gnu/bits/poll2.h:
 
-/usr/include/boost/fusion/view/reverse_view/detail/value_at_impl.hpp:
+/usr/include/x86_64-linux-gnu/sys/uio.h:
 
-/usr/include/x86_64-linux-gnu/bits/errno.h:
+/usr/include/boost/mpl/aux_/reverse_fold_impl.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/eventfd.h:
+/usr/include/x86_64-linux-gnu/sys/un.h:
 
-/usr/include/boost/asio/handler_alloc_hook.hpp:
+/usr/include/boost/fusion/support/is_view.hpp:
 
-/usr/include/boost/asio/execution/receiver.hpp:
+/usr/include/boost/asio/detail/timer_queue_base.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/fcntl-linux.h:
+/usr/include/x86_64-linux-gnu/bits/timerfd.h:
 
-/usr/include/x86_64-linux-gnu/bits/fcntl.h:
+/usr/include/boost/asio/detail/impl/epoll_reactor.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/getopt_core.h:
+/opt/openrobots/include/pinocchio/serialization/serializable.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/in.h:
+/usr/include/x86_64-linux-gnu/sys/epoll.h:
 
-/usr/include/c++/11/cfloat:
+/usr/include/boost/asio/detail/signal_blocker.hpp:
 
-/usr/include/x86_64-linux-gnu/bits/ioctls.h:
+/usr/include/signal.h:
diff --git a/clik/build/CMakeFiles/clik.dir/flags.make b/clik/build/CMakeFiles/clik.dir/flags.make
index 0d878ee77e2469d05fe214f4322a9094be0a88aa..4e440d90010b32b84af1cc2b7b2bc1c9aa448121 100644
--- a/clik/build/CMakeFiles/clik.dir/flags.make
+++ b/clik/build/CMakeFiles/clik.dir/flags.make
@@ -1,5 +1,5 @@
 # CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.27
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
 
 # compile CXX with /usr/bin/c++
 CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM
diff --git a/clik/build/Makefile b/clik/build/Makefile
index 7354d162dc28c63c0f04d3a76a6bbf151611e8ba..46d0cb7e6e70788ee5d6422a15ff9105387cfa3a 100644
--- a/clik/build/Makefile
+++ b/clik/build/Makefile
@@ -1,5 +1,5 @@
 # CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.27
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
 
 # Default target executed when no arguments are given to make.
 default_target: all
@@ -48,10 +48,10 @@ cmake_force:
 SHELL = /bin/sh
 
 # The CMake executable.
-CMAKE_COMMAND = /home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake
+CMAKE_COMMAND = /usr/bin/cmake
 
 # The command to remove a file.
-RM = /home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -E rm -f
+RM = /usr/bin/cmake -E rm -f
 
 # Escaping for special characters.
 EQUALS = =
@@ -67,8 +67,8 @@ CMAKE_BINARY_DIR = /home/gospodar/lund/praxis/ur_simple_control/clik/build
 
 # Special rule for the target edit_cache
 edit_cache:
-	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "No interactive CMake dialog available..."
-	/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
 .PHONY : edit_cache
 
 # Special rule for the target edit_cache
@@ -77,8 +77,8 @@ edit_cache/fast: edit_cache
 
 # Special rule for the target rebuild_cache
 rebuild_cache:
-	@$(CMAKE_COMMAND) -E cmake_echo_color "--switch=$(COLOR)" --cyan "Running CMake to regenerate build system..."
-	/home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
 .PHONY : rebuild_cache
 
 # Special rule for the target rebuild_cache
diff --git a/clik/build/compile_commands.json b/clik/build/compile_commands.json
index c76cf16e972c7f2adadba24581048dde200a43ec..29de5c208c9a342c5dea1ce8a45545dd94eea54b 100644
--- a/clik/build/compile_commands.json
+++ b/clik/build/compile_commands.json
@@ -1,8 +1,7 @@
 [
 {
   "directory": "/home/gospodar/lund/praxis/ur_simple_control/clik/build",
-  "command": "/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -I/home/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3      -D_XOPEN_SOURCE=700     -D_FORTIFY_SOURCE=2     -O2     -fstack-protector     -fomit-frame-pointer     -pipe -std=c++17     -pedantic -pedantic-errors     -Werror     -Weffc++     -Wall -Wextra -Wshadow -Wdeprecated     -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith     -Wuninitialized -Wunreachable-code     -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable     -Wunused-value -Wunused-variable -Wunused-result     -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -o CMakeFiles/clik.dir/src/clik.cpp.o -c /home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
-  "file": "/home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
-  "output": "CMakeFiles/clik.dir/src/clik.cpp.o"
+  "command": "/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -I/home/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3      -D_XOPEN_SOURCE=700     -D_FORTIFY_SOURCE=2     -O2     -fstack-protector     -fomit-frame-pointer     -pipe \t-std=c++17     -pedantic -pedantic-errors     -Werror     -Weffc++     -Wall -Wextra -Wshadow -Wdeprecated     -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith     -Wuninitialized -Wunreachable-code     -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable     -Wunused-value -Wunused-variable -Wunused-result     -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -o CMakeFiles/clik.dir/src/clik.cpp.o -c /home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
+  "file": "/home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp"
 }
-]
+]
\ No newline at end of file
diff --git a/clik/clik.py b/clik/clik.py
index 30b38e958c905412a926644c8c78165378986834..ecee5098e65d37ca90c259de86b6fdcbda7bdc1f 100644
--- a/clik/clik.py
+++ b/clik/clik.py
@@ -76,14 +76,16 @@ Mtool = data.oMi[JOINT_ID]
 print("pos", Mtool)
 #SEerror = pin.SE3(np.zeros((3,3)), np.array([0.0, 0.0, 0.1])
 Mgoal = copy.deepcopy(Mtool)
-Mgoal.translation = Mgoal.translation + np.array([-0.2, -0.2, -0.1])
+Mgoal.translation = Mgoal.translation + np.array([-0.2, 0.0, 0.0])
 print("goal", Mgoal)
 eps = 1e-3
 IT_MAX = 100000
 update_rate = 500
 dt = 1/update_rate
 damp = 1e-6
-acceleration = 1.0
+# nice but large
+#acceleration = 1.0
+acceleration = 0.2
 
 # if you just stop it normally, it will continue running
 # the last speedj lmao
@@ -104,7 +106,7 @@ for i in range(IT_MAX):
     if not SIMULATION:
         gripper_pos = gripper.get_current_position()
         # all 3 are between 0 and 255
-        gripper.move(i % 255, 100, 100)
+        #gripper.move(i % 255, 100, 100)
         # just padding to fill q, which is only needed for forward kinematics
         #q.append(gripper_pos)
         #q.append(gripper_pos)
@@ -125,10 +127,12 @@ for i in range(IT_MAX):
         break
     # this does the whole thing unlike the C++ version lel
     J = pin.computeJointJacobian(model, data, q, JOINT_ID)
-    J = J + np.eye(J.shape[0], J.shape[1]) * 10**-4
+    #J = J + np.eye(J.shape[0], J.shape[1]) * 10**-4
     # idk what i was thinking here lol
     #v = np.matmul(np.linalg.pinv(J), pin.log(SEerror.inverse() * Mgoal).vector)
-    v = J.T @ err_vector
+    #v = J.T @ err_vector
+    #v = np.linalg.pinv(J) @ err_vector
+    v = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * 10**-2) @ err_vector
     v_cmd = v[:6]
     v_cmd = v_cmd * 5
     v_cmd = np.clip(v_cmd, -2, 2)
@@ -137,8 +141,10 @@ for i in range(IT_MAX):
     else:
         q = pin.integrate(model, q, v * dt)
     if not i % 1000:
-        print(" error = ", err_vector.transpose())
         print("pos", data.oMi[JOINT_ID])
+        print("linear error = ", pin.log6(SEerror).linear)
+        print("angular error = ", pin.log6(SEerror).angular)
+        print(" error = ", err_vector.transpose())
     end = time.time()
     diff = end - start
     if dt < diff:
@@ -153,4 +159,4 @@ else:
     print("Warning: the iterative algorithm has not reached convergence to the desired precision")
 
 print("final error", err_vector.transpose()) 
-
+handler(None, None)
diff --git a/dmp/foo.csv b/dmp/foo.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f5c0e7d93c6e17bdab504dfb0b6a03ce3409359
--- /dev/null
+++ b/dmp/foo.csv
@@ -0,0 +1,20 @@
+91.95752,20.54460,67.05755,79.28822,7.44036,14.34274
+8.19768,66.59219,33.50315,88.02353,66.00660,75.05940
+25.59865,47.32599,54.90994,0.69086,17.00136,22.16938
+50.34043,68.93221,91.19810,45.25895,53.85435,95.05934
+57.17939,61.95363,62.82719,10.89851,89.53397,42.59941
+19.91617,9.63301,80.90256,34.02111,66.77825,10.33415
+95.01825,94.01395,50.42798,53.76650,82.35249,86.54953
+93.96005,44.60053,56.45169,20.15949,11.02641,57.66196
+78.41841,3.27468,71.97246,54.94057,31.04586,36.50777
+74.20454,19.36789,36.10229,96.56415,69.52338,32.00818
+72.05607,86.49986,50.22457,8.99782,80.88300,16.76694
+84.70613,66.26398,80.76942,96.90357,11.73177,76.10016
+62.65264,48.30619,80.49647,75.55566,84.58094,99.83353
+93.26129,58.84515,73.43210,66.87649,72.73627,70.98217
+32.60035,66.88685,73.38905,58.76843,33.85312,39.78090
+55.66805,2.41836,53.07940,94.63999,19.06198,39.37208
+70.86814,61.76685,27.47206,77.34658,27.60970,69.96702
+33.97376,73.33102,60.60688,86.87571,36.08155,38.97256
+57.72629,14.69208,46.80443,46.93736,88.90871,79.37640
+88.16679,2.31752,6.03647,14.85282,77.52156,55.30332
diff --git a/dmp/my_sol/.create_dmp.py.swp b/dmp/my_sol/.create_dmp.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..7af9e892f098ac59ace5b1fd6d13f2b295a30fe0
Binary files /dev/null and b/dmp/my_sol/.create_dmp.py.swp differ
diff --git a/dmp/my_sol/.run_dmp.py.swp b/dmp/my_sol/.run_dmp.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..460fa55a5cc5c091043410973b6bf62d27f8e4a7
Binary files /dev/null and b/dmp/my_sol/.run_dmp.py.swp differ
diff --git a/dmp/my_sol/__pycache__/create_dmp.cpython-310.pyc b/dmp/my_sol/__pycache__/create_dmp.cpython-310.pyc
index 3758f9217ef8902406dbbdc7eeffcf674a23ca91..11b1d7280e1674320a8aea0e7af9628e66f5e298 100644
Binary files a/dmp/my_sol/__pycache__/create_dmp.cpython-310.pyc and b/dmp/my_sol/__pycache__/create_dmp.cpython-310.pyc differ
diff --git a/dmp/my_sol/create_dmp.py b/dmp/my_sol/create_dmp.py
index 74282cf13a9958ab86f3ead837ecc7a324aa8d5c..066e64fb84c9901883fc1d4ffc4c15c772431a58 100644
--- a/dmp/my_sol/create_dmp.py
+++ b/dmp/my_sol/create_dmp.py
@@ -40,7 +40,8 @@ class DMP:
     def load_trajectory(self):
         # load trajectory. the current one is something on ur10, but apart from scale it's the same robot
         # and this is just joint positions
-        trajectory_loadpath = './ur10_omega_trajectory.csv'
+        #trajectory_loadpath = './ur10_omega_trajectory.csv'
+        trajectory_loadpath = './new_traj.csv'
         data = np.genfromtxt(trajectory_loadpath, delimiter=',')
         # this one is slow enough
         #self.time = data[:, 0] * 1.5
diff --git a/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp b/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..c0c975551e9ab6f28bebbc39ea538fc2bc70323b
Binary files /dev/null and b/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp differ
diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py
new file mode 100644
index 0000000000000000000000000000000000000000..aaae8e4e4d96dff49a984bff57df0dbbc0630e97
--- /dev/null
+++ b/dmp/my_sol/drawing_gen/cliking_the_path.py
@@ -0,0 +1,102 @@
+# your entry point is a 
+# np.array of shape (N_POINTS, 2)
+# this files results in a timed joint path
+
+# STEP 1: map the pixels to a 3D plane
+
+# STEP 2: clik that path
+
+# STEP 3: put result into csv (but also save it in a convenient class/array here)
+
+
+import numpy as np
+import pinocchio as pin
+import os
+
+#######################################################################
+#                STEP 1: map the pixels to a 3D plane                 #
+#######################################################################
+
+# TODO you'll pass the path into this path, it's just bs for now
+t = (np.arange(100) / 10).reshape((100,1))
+path = np.hstack((np.cos(t), np.sin(t))) / 2
+z = np.zeros((len(path),1))
+path = np.hstack((path,z))
+
+# we now scale this appropriatelly to m
+# TODO measure
+board_width = 0.3
+board_height = 0.2
+path[:,0] = path[:,0] * board_width
+path[:,1] = path[:,1] * board_height
+
+
+# now the path is appropriately scaled and in the first quadrant
+# of the x-y plane of the body-frame
+# we now need a transformation from the body frame to the board
+# such that the first quadrant of the x-y plane is 
+# in the bottom left corner of the board (obvious solution)
+# TODO measure AND AUTOMATICALLY FIND/CALIBRATE
+translation_body_to_board = np.array([0.3, 0.4, 0.5])
+# here let's assume it's just rotated around x (it's not ofc)
+rot_mat_body_to_board = np.array([[1.0, 0.0, 0.0],
+                                  [0.0, 0.0, 1.0],
+                                  [0.0, 1.0, 0.0]])
+transf_body_to_board = pin.SE3(rot_mat_body_to_board, translation_body_to_board)
+for i in range(len(path)):
+    path[i] = transf_body_to_board.act(path[i])
+print(path)
+
+#######################################################################
+#                      STEP 2: clik that path                         #
+#######################################################################
+
+
+urdf_path_relative = "../../../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../../../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+model = pin.buildModelFromUrdf(urdf_path_absolute)
+data = pin.Data(model)
+#print(model)
+
+# clik it
+JOINT_ID = 6
+eps = 10**-2
+dt = 0.01
+# skip inital pos tho
+q = pin.neutral(model)
+INIT_ITER = 10000
+n_iter = INIT_ITER
+RUNNING_ITER = 1000
+qs = []
+for goal in path:
+    Mgoal = pin.SE3(np.zeros((3,3)), goal)
+    for i in range(n_iter):
+        pin.forwardKinematics(model, data, q)
+        SEerror = data.oMi[JOINT_ID].actInv(Mgoal)
+        err_vector = pin.log6(SEerror).vector 
+        if np.linalg.norm(err_vector) < eps:
+            print("converged", i)
+            break
+        J = pin.computeJointJacobian(model, data, q, JOINT_ID)
+        v = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * 10**-2) @ err_vector
+        q = pin.integrate(model, q, v * dt)
+        if (not n_iter == INIT_ITER) and (i % 10 == 0):
+            qs.append(q[:6])
+
+    # just skipping the first run with one stone
+    if n_iter == INIT_ITER:
+        n_iter = RUNNING_ITER
+
+#######################################################################
+#                       STEP 3: save joint path                       #
+#######################################################################
+qs = np.array(qs)
+# let's assume it takes 10 seconds
+t = np.linspace(0, 10, len(qs)).reshape((len(qs),1))
+timed_qs = np.hstack((t, qs))
+np.savetxt("../new_traj.csv", timed_qs, delimiter=',', fmt='%.5f')
+
+
+
diff --git a/drawing_gen/draw_path.py b/dmp/my_sol/drawing_gen/draw_path.py
similarity index 100%
rename from drawing_gen/draw_path.py
rename to dmp/my_sol/drawing_gen/draw_path.py
diff --git a/drawing_gen/lasso_selector_demo_sgskip.py b/dmp/my_sol/drawing_gen/lasso_selector_demo_sgskip.py
similarity index 100%
rename from drawing_gen/lasso_selector_demo_sgskip.py
rename to dmp/my_sol/drawing_gen/lasso_selector_demo_sgskip.py
diff --git a/dmp/my_sol/generate_traj_from_screen.py b/dmp/my_sol/generate_traj_from_screen.py
deleted file mode 100644
index 7e9b82a40888cc462746f8a1398d8cdbfda14823..0000000000000000000000000000000000000000
--- a/dmp/my_sol/generate_traj_from_screen.py
+++ /dev/null
@@ -1,10 +0,0 @@
-# we're doing this last,
-# just run with a predefined trajectory until then.
-# afterward copy the functionality of the matlab part.
-# you can do it with one of the tkinter/matplotlib examples you found (and saved)
-# while working on the wasp_ivc project
-
-# the output will be a csv with timestamps and joint angles q
-# if required you can finite-difference the q into dq and ddq here
-# and shove that into the csv as well, doesn't really matter.
-# just comply with the example demo csv.
diff --git a/dmp/my_sol/new_traj.csv b/dmp/my_sol/new_traj.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87232b01809f44159c3002955725825b78c67ac0
--- /dev/null
+++ b/dmp/my_sol/new_traj.csv
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diff --git a/dmp/notes.md b/dmp/notes.md
index 35e852d3e8cf52b28423f996276f6f53a53fa7ec..ee5705135bde6619646efc8a756e9cb341e4f3a8 100644
--- a/dmp/notes.md
+++ b/dmp/notes.md
@@ -1,11 +1,13 @@
-# pixel trajectory:
------------------
+# pixel trajectory: DONE
+-------------------------
 have your pixels in a 2D array of length N points : ((x0,y0), (x1,y1),...(xN,yN))
 time is just np.arange(N).
 these guys are relatively sparse, ~150 points. 
 in the program the distribution is dependent on how fast you move your mouse,
 which is why i assume means it's not of great importance as long as it
-covers everything reasonably
+covers everything reasonably.
+you might want to look into bezier-ing the path into something smooth.
+but looks OK as is also
 
 # 3D cartesian trajectory:
 -------------------------