diff --git a/README.md b/README.md
index e1fb32522745bee764d29b5ab5ffc1dc9a26492d..4ca83530c077eacb59e1e328de1436c46138464b 100644
--- a/README.md
+++ b/README.md
@@ -87,6 +87,8 @@ Here is a checklist of what to do together with the key remarks.
   files to make clutter and cause confusion.
 - the pyproject.toml actually brakes local install so i'm just keeping it out for now. sweet jesus
   what a mess
+- instead of using a debug argument and ifs for prints,
+  use built-in python logging
 
 #TODO: write instruction for extending the library to new robots
 -------------
diff --git a/TODOS_2024-03-23 b/TODOS_2024-03-23
index e9c3b94327794be2d5173d9a705110667744e4f9..35427756e463b810d1fe9dfed61e5f241ff28303 100644
--- a/TODOS_2024-03-23
+++ b/TODOS_2024-03-23
@@ -1,15 +1,13 @@
 in order of priority
 --------------------
 1. real-time plotting (need to see what's happening as it's happening,
-   this is here primarily to aid in debugging)
----> have a list of what's possible to plot and then select what's selected 
-2. debug dmp end-of-trajectory shennanigans
-3. implement compliantMoveL
-4. fix getMarkerOffset
+   this is here primarily to aid in debugging) - DONE
+---> have a list of what's possible to plot and then select what's selected - TODO make logging smoother and uniform accross code
+2. debug dmp end-of-trajectory shennanigans - DONE (at least mostly)
+3. implement compliantMoveL - DONE
+4. fix getMarkerOffset - DONE
 5. add waypoints to marker pick up
 6. fix anything that looks problematic in drawing
 7. switch to robot_manager.step() to ensure you're not double-computing things
 8. implement cartesian dmp 
 9. faster visualizing (process in a different thread)
-
-
diff --git a/python/README.md b/python/README.md
index 2dcfa448f505a0d793ffa836df25f69a9c7600ba..d638db88e17a37bbf7a7da9bcf6993a449be146d 100644
--- a/python/README.md
+++ b/python/README.md
@@ -17,6 +17,8 @@ so not terribly convenient. it will get fixed in a future ur_rtde release tho
   this to work than to re-do the same functionality from scratch. 
   and you won't really be using it too much anyway let's be real. AND ALSO,
   if you ditch your shitty integration for pinocchio's it will be faster.
+- use logging instead of a debug flag (you're reinventing the wheel and it's also ugly)
+- add types to everything, check them with mypy
 
 # installation
 ------------
diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index d48ea389ffcc4ea5138ddefcce7a1dbac4d2e7c0..9a68dc112406fb605a31fe76116d3e062f5e5c11 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -255,7 +255,6 @@ def controlLoopPointImpedance(q_init, controller, robot, i, past_data):
 
 
 
-# TODO: implement
 def controlLoopCartesianPointImpedance(Mtool_init, clik_controller, robot, i, past_data):
     breakFlag = False
     # TODO rename this into something less confusing