diff --git a/python/examples/data/latest_run b/python/examples/data/latest_run
index 047b738479cb3ea89908733341a9abe6745ddf63..747204f13bea6585dc9fde6f2f60978ab70560cc 100644
Binary files a/python/examples/data/latest_run and b/python/examples/data/latest_run differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index dc88f72e57f0d6b6cb08a550b17468eeef8b3904..02d8bca8b633476bdb4d24f1d657fe3c146c4927 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -222,8 +222,8 @@ def controlLoopWriting(args, robot : RobotManager, dmp, tc, controller, i, past_
     # TODO fix the q6 situation (hide this)
     log_item['qs'] = q[:6].reshape((6,))
     log_item['dmp_qs'] = dmp.pos.reshape((6,))
-    log_item['vs'] = dq.reshape((6,))
-    log_item['dmp_vs'] = dmp.vel.reshape((6,))
+    log_item['dqs'] = dq.reshape((6,))
+    log_item['dmp_dqs'] = dmp.vel.reshape((6,))
     log_item['wrench'] = wrench.reshape((6,))
     log_item['tau'] = tau.reshape((6,))
 
@@ -265,14 +265,14 @@ def write(args, robot : RobotManager, joint_trajectory):
     # here you give it it's initial value
     log_item = {
             'qs' : np.zeros(robot.n_arm_joints),
-            'dmp_poss' : np.zeros(robot.n_arm_joints),
+            'dmp_qs' : np.zeros(robot.n_arm_joints),
             'dqs' : np.zeros(robot.n_arm_joints),
-            'dmp_vels' : np.zeros(robot.n_arm_joints),
+            'dmp_dqs' : np.zeros(robot.n_arm_joints),
             'wrench' : np.zeros(6),
             'tau' : np.zeros(robot.n_arm_joints),
         }
     #moveJ(args, robot, dmp.pos.reshape((6,)))
-    controlLoop = partial(controlLoopWriting, dmp, tc, controller, robot)
+    controlLoop = partial(controlLoopWriting, args, robot, dmp, tc, controller)
     loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
     # and now we can actually run
     loop_manager.run()
@@ -326,11 +326,11 @@ if __name__ == "__main__":
         q_init = plane_calib_dict['q_init']
 
     # make the path 3D
-    path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
+    path_points_3D = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
     # TODO: fix thi function
     if args.pick_up_marker:
         raise NotImplementedError("sorry")
-        getMarker(args, robot, rotation_matrix, translation_vector)
+        getMarker(args, robot, marker_bottom_pose)
 
     # marker moves between runs, i change markers etc,
     # this goes to start, goes down to touch the board - that's the marker
@@ -341,25 +341,27 @@ if __name__ == "__main__":
         print('marker_offset', marker_offset)
         # we're going in a bit deeper
         if not args.board_wiping:
-            path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.003])
-            #path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.005])
+            path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.003])
+            #path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.005])
         else:
             # old robotweek
-            path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.015])
-            path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.025])
+            path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.015])
+            path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.025])
     else:
         print("i hope you know the magic number of marker length + going into board")
         #path = path + np.array([0.0, 0.0, -0.1503])
-        path = path + np.array([0.0, 0.0, - 0.092792+ 0.003])
+        path_points_3D = path_points_3D + np.array([0.0, 0.0, - 0.092792+ 0.003])
 
     # create a joint space trajectory based on the 3D path
     if args.draw_new or args.calibration or args.find_marker_offset:
-    # TODO: add flag of success (now it's your eyeballs and printing)
-    # and immediatelly exit if it didn't work
-        TODO: rewrite this function to comply with controlLoop standars
-        do that by copying the arguments, setting them to quickly integrate
-        and get extract the qs from the result
-        joint_trajectory = clikCartesianPathIntoJointPath(path, args, robot, \
+        path = []
+        for i in range(len(path_points_3D)):
+            # TODO: test
+            path_pose = pin.SE3.Identity()
+            path_pose.translation = path_points_3D[i]
+            path.append(plane_pose.act(path_pose))
+
+        joint_trajectory = clikCartesianPathIntoJointPath(args, robot, path, \
             clikController, q_init, plane_pose)
     else:
         joint_trajectory_file_path = './joint_trajectory.csv'
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 193c9faf45cdc8f2e34e801a0bfad0216e652d09..97892e5ba9729b9d99f3eab7f794ac1d2e0943e1 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,1570 +1,312 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index e9587b3173118e4a5a7de50cb9b4b3f3b1bcaf8f..dea19bcd03cb7211d49cd02043dbc58bd6c4af75 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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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 0970b3c2cb851b07f89c1ef1a7f933c437f1d1eb..a1ee685af1c3b75aa6819392fdc500bbc70a3e9a 100644
Binary files a/python/ur_simple_control/__pycache__/managers.cpython-312.pyc and b/python/ur_simple_control/__pycache__/managers.cpython-312.pyc differ
diff --git a/python/ur_simple_control/clik/clik.py b/python/ur_simple_control/clik/clik.py
index 897d046b5378c19b84cf0dd3c40afdfabe0f0cdd..ff4d882268d728a88514d77e6e8327be67587050 100644
--- a/python/ur_simple_control/clik/clik.py
+++ b/python/ur_simple_control/clik/clik.py
@@ -135,9 +135,6 @@ def getClikController(args):
     return partial(dampedPseudoinverse, args.tikhonov_damp)
 
 
-# modularity yo
-# past data to comply with the API
-# TODO make this a kwarg or whatever to be more lax with this
 def controlLoopClik(robot : RobotManager, clik_controller, i, past_data):
     """
     controlLoopClik
@@ -148,7 +145,6 @@ def controlLoopClik(robot : RobotManager, clik_controller, i, past_data):
     """
     breakFlag = False
     log_item = {}
-    # know where you are, i.e. do forward kinematics
     q = robot.getQ()
     # first check whether we're at the goal
     SEerror = robot.data.oMi[robot.JOINT_ID].actInv(robot.Mgoal)
@@ -156,27 +152,13 @@ def controlLoopClik(robot : RobotManager, clik_controller, i, past_data):
     if np.linalg.norm(err_vector) < robot.args.goal_error:
 #      print("Convergence achieved, reached destionation!")
         breakFlag = True
-    # pin.computeJointJacobian is much different than the C++ version lel
-    # TODO: put in step, havew getter for it
-    J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
-    # compute the joint velocities.
-    # just plug and play different ones
+    #J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
+    J = pin.computeFrameJacobian(robot.model, robot.data, q, robot.ee_frame_id)
+    # compute the joint velocities based on controller you passed
     qd = clik_controller(J, err_vector)
     robot.sendQd(qd)
     
-    # TODO: only print under a debug flag, it's just clutter otherwise
-    # we do the printing here because controlLoopManager should be general.
-    # and these prints are click specific (although i'm not 100% happy with the arrangement)
-#    if not i % 1000:
-#        print("pos", robot.data.oMi[robot.JOINT_ID])
-#        print("linear error = ", pin.log6(SEerror).linear)
-#        print("angular error = ", pin.log6(SEerror).angular)
-#        print(" error = ", err_vector.transpose())
-
     log_item['qs'] = q.reshape((robot.model.nq,))
-    # get actual velocity, not the commanded one.
-    # although that would be fun to compare i guess
-    # TODO: have both, but call the compute control signal like it should be
     log_item['dqs'] = robot.getQd().reshape((robot.model.nq,))
     # we're not saving here, but need to respect the API, 
     # hence the empty dict
@@ -362,10 +344,8 @@ def compliantMoveL(args, robot, goal_point):
     time.sleep(0.01)
     print("compliantMoveL done: convergence achieved, reached destionation!")
 
-        TODO: rewrite this function to comply with controlLoop standars
-        do that by copying the arguments, setting them to quickly integrate
-        and get extract the qs from the result
-def clikCartesianPathIntoJointPath(path, args, robot, \
+
+def clikCartesianPathIntoJointPath(args, robot, path, \
         clikController, q_init, plane_pose):
     """
     clikCartesianPathIntoJointPath
@@ -374,6 +354,9 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
     ------------
     Follows a provided Cartesian path,
     creates a joint space trajectory for it.
+    Output format and timing works only for what the dmp code expects
+    because it's only used there,
+    and I never gave that code a lift-up it needs.
 
     return
     ------
@@ -383,49 +366,31 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
     ----------
     - path: cartesian path given in task frame
     """
-
-    q = q_init.copy()
-    pin.forwardKinematics(robot.model, robot.data, q)
-
-    for i in range(len(path)):
-        path[i] = plane_pose.act(path[i])
-    # TODO remove print, write a test for this instead
-    if args.debug_prints:
-        print(path)
-
-    n_iter = args.max_init_clik_iterations
     # we don't know how many there will be, so a linked list is 
     # clearly the best data structure here (instert is o(1) still,
     # and we aren't pressed on time when turning it into an array later)
     qs = []
-    for goal in path:
-        for i in range(n_iter):
-            pin.forwardKinematics(robot.model, robot.data, q)
-            SEerror = robot.data.oMi[robot.JOINT_ID].actInv(plane_pose)
-            err_vector = pin.log6(SEerror).vector 
-            if np.linalg.norm(err_vector) < args.goal_error:
-                if not n_iter == args.max_init_clik_iterations:
-                    if args.debug_prints:
-                        print("converged in", i)
-                    break
-            J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
-            qd = clikController(J, err_vector)
-            # we're integrating this fully offline of course
-            q = pin.integrate(robot.model, q, qd * robot.dt)
-            if (not n_iter == args.max_init_clik_iterations) and (i % 10 == 0):
-                qs.append(q[:6])
-
-        # just skipping the first run with one stone
-        if n_iter == args.max_init_clik_iterations:
-            n_iter = args.max_running_clik_iterations
-        else:
-            if i == args.max_running_clik_iterations - 1:
-                print("DID NOT CONVERGE -- exiting")
-                # nothing is moving 
-                # and i'm not even using a manager here
-                # so no need, right?
-                #ControlLoopManager.stopHandler(None, None, None)
-                exit()
+    # let's use the functions we already have. to do so
+    # we need to create a new RobotManager with arguments for simulation,
+    # otherwise weird things will happen.
+    # we keep all the other args intact
+    sim_args = copy.deepcopy(args)
+    sim_args.pinocchio_only = True
+    sim_args.fast_simulation = True
+    sim_args.real_time_plotting = False
+    sim_args.visualize_manipulator = False
+    sim_args.save_log = False # we're not using sim robot outside of this
+    sim_args.max_iterations = 10000 # more than enough
+    sim_robot = RobotManager(sim_args)
+    sim_robot.q = q_init.copy()
+    sim_robot._step()
+    for pose in 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)
+        qs.append(new_q[:6])
+        # plot this on the real robot
 
     ##############################################
     #  save the obtained joint-space trajectory  #
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 3e3bae24c3cb5bee5621942984671a0ef360ea30..42cd88257ab0b348e175e502632618c6bc3b32a1 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -88,6 +88,11 @@ def getMinimalArgParser():
     parser.add_argument('--gripper', type=str, \
             help="gripper you're using (no gripper is the default)", \
                         default="none", choices=['none', 'robotiq', 'onrobot'])
+    # TODO: make controlloop manager run in a while True loop and remove this
+    # ==> max-iterations actually needs to be an option. sometimes you want to simulate and exit
+    #     if the convergence does not happen in a reasonable amount of time,
+    #     ex. goal outside of workspace has been passed or something
+    # =======> if it's set to 0 then the loops run infinitely long
     parser.add_argument('--max-iterations', type=int, \
             help="maximum allowable iteration number (it runs at 500Hz)", default=100000)
     parser.add_argument('--speed-slider', type=float,\
@@ -268,6 +273,10 @@ class ControlLoopManager:
                         #self.robot_manager.stopHandler(None, None)
                 self.log_dict[key].append(log_item[key])
             
+            # TODO: do it this way if running on the real robot.
+            # but if not, we want to control the speed of the simulation,
+            # and how much we're plotting.
+            # so this should be an argument that is use ONLY if we're in simulation
             if i % 20 == 0:
                 # don't send what wasn't ready
                 if self.args.visualize_manipulator:
@@ -300,7 +309,7 @@ class ControlLoopManager:
                 # NOTE: it literally took me a year to put this if here
                 # and i have no idea why i didn't think of it before lmao 
                 # (because i did know about it, just didn't even think of changing it)
-                if (not self.args.pinocchio_only) and (not self.args.fast_simulation):
+                if not (self.args.pinocchio_only and self.args.fast_simulation):
                     time.sleep(self.robot_manager.dt - diff)
 
 
@@ -756,9 +765,7 @@ class RobotManager:
         self.q = q
         pin.forwardKinematics(self.model, self.data, q)
         pin.updateFramePlacement(self.model, self.data, self.ee_frame_id)
-        # TODO probably remove deepcopy
-        #self.T_w_e = self.data.oMi[self.JOINT_ID]
-        self.T_w_e = self.data.oMi[self.ee_frame_id]
+        self.T_w_e = self.data.oMf[self.ee_frame_id].copy()
 
     def _getQd(self):
         """
@@ -992,3 +999,18 @@ class RobotManager:
             self.rtde_control.endFreedriveMode()
         else:
             raise NotImplementedError("freedrive function only written for ur5e")
+
+    def updateViz(self, q : np.ndarray, T_w_e : pin.SE3):
+        """
+        updateViz
+        ---------
+        updates the viz and only the viz according to arguments
+        NOTE: this function does not change internal variables!
+        because it shouldn't - it should only update the visualizer
+        """
+        if self.args.visualize_manipulator:
+            self.manipulator_visualizer_queue.put_nowait({"q" : q,
+                                                        "T_w_e" : T_w_e})
+        else:
+            if self.args.debug_prints:
+                print("you didn't select viz")
diff --git a/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-312.pyc b/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-312.pyc
index 642386db4332d0cfa0a90decd04b966746363e01..4ac2f3a069d20ebbb0e8dd7eac2be20e189b1bbe 100644
Binary files a/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-312.pyc and b/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-312.pyc differ
diff --git a/python/ur_simple_control/util/calib_board_hacks.py b/python/ur_simple_control/util/calib_board_hacks.py
index df859fad9f9e9e72077884c55a4b6e41c9c6760b..ef42370800786712a1deeac7fb90f7f9c5126b46 100644
--- a/python/ur_simple_control/util/calib_board_hacks.py
+++ b/python/ur_simple_control/util/calib_board_hacks.py
@@ -276,7 +276,10 @@ def calibratePlane(args, robot : RobotManager, plane_width, plane_height, n_test
     # put the speed slider back to its previous value
 #    robot.setSpeedSlider(old_speed_slider)
     print('also, the translation vector is:', translation)
-    file_path = './plane_pose.pickle'
+    if not args.pinocchio_only:
+        file_path = './plane_pose.pickle'
+    else:
+        file_path = './plane_pose_sim.pickle'
     log_file = open(file_path, 'wb')
     plane_pose = pin.SE3(R, translation)
     log_item = {'plane_top_left_pose': plane_pose, 'q_init': q_init.copy()}
diff --git a/python/ur_simple_control/util/map2DPathTo3DPlane.py b/python/ur_simple_control/util/map2DPathTo3DPlane.py
index a0d9f78b3f870b612ad099ce543787c112480505..afbad224c321bb7a9c7db105f7937e4d92c69d31 100644
--- a/python/ur_simple_control/util/map2DPathTo3DPlane.py
+++ b/python/ur_simple_control/util/map2DPathTo3DPlane.py
@@ -3,7 +3,7 @@ import numpy as np
 #######################################################################
 #                    map the pixels to a 3D plane                     #
 #######################################################################
-def map2DPathTo3DPlane(path_2D, width, height):
+def map2DPathTo3DPlane(path_points_2D, width, height):
     """
     map2DPathTo3DPlane
     --------------------
@@ -20,15 +20,15 @@ def map2DPathTo3DPlane(path_2D, width, height):
     Returns a 3D path appropriately scaled, and placed into the first quadrant
     of the x-y plane of the body-frame (TODO: what is the body frame if we're general?)
     """
-    z = np.zeros((len(path_2D),1))
-    path_3D = np.hstack((path_2D,z))
+    z = np.zeros((len(path_points_2D),1))
+    path_points_3D = np.hstack((path_points_2D,z))
     # scale the path to m
-    path_3D[:,0] = path_3D[:,0] * width
-    path_3D[:,1] = path_3D[:,1] * height
+    path_points_3D[:,0] = path_points_3D[:,0] * width
+    path_points_3D[:,1] = path_points_3D[:,1] * height
     # in the new coordinate system we're going in the -y direction
     # TODO this is a demo specific hack, 
     # make it general for a future release
-    path_3D[:,1] = -1 * path_3D[:,1] + height
-    return path_3D
+    path_points_3D[:,1] = -1 * path_points_3D[:,1] + height
+    return path_points_3D