diff --git a/README.md b/README.md
index 4b773585127a286c7eb8cab8bc1e8eda774fb095..20f3f9e34ef4f530ee4c751b1d1645947d19df6d 100644
--- a/README.md
+++ b/README.md
@@ -1,17 +1,15 @@
 # general info
-- ur provided ros driver gets me the implemented reading that i want,
-- but it also uses up some sockets i want control over
-- IDEA1: if possible, use their implementation for reading and send your own commands
-- IDEA2: use the ultra basic python-to-urscript code and just add the force reading 
-
+- c++ implementation because python is too slow, and we're just doing math anyway 
+- but there are python versions of everything for students who don't need the best performance
+# some specifics
+- using the ur_rtde implementation of the client-side real-time interface for ur robots
+- using pinocchio for dynamics intergration on the client side
+- basic closed-loop inverse kinematics control will be implemented
+- some basic tests will be here as well, other projects built on this will be in separate repos
 
 # TODO
-1. get the absolute simplest possible gripper (open/close via raw socket) + kinematic arm control (movej/l and speedj/l)
-2. get the absolute simplest possible sensors readings -- possible help from applied robotics project group
-3. make a ROS2 node for the arm
-4. make a ROS2 node for the gripper
-5. find a convenient, fast and correct way to integrate dynamics client side
-6. force control on the gripper
+5. find a convenient, fast and correct way to integrate dynamics client side --> pinocchio
+6. force control on the gripper 
 7. get a project group to do impedance/admittance control
 8. see if something needs to be c++ed
 9. basic environment simulation: dynamics with lugre friction via straight o.d.e. integration
diff --git a/simple_raw_comm/.main.cpp.swp b/basic_ur_rtde_usage/.main.cpp.swp
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diff --git a/simple_raw_comm/CMakeLists.txt b/basic_ur_rtde_usage/CMakeLists.txt
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diff --git a/simple_raw_comm/build/CMakeFiles/3.27.4/CMakeCXXCompiler.cmake b/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeCXXCompiler.cmake
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diff --git a/simple_raw_comm/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_C.bin b/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_C.bin
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diff --git a/simple_raw_comm/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_CXX.bin b/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_CXX.bin
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diff --git a/simple_raw_comm/build/CMakeFiles/3.27.4/CMakeSystem.cmake b/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeSystem.cmake
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diff --git a/simple_raw_comm/build/CMakeFiles/3.27.4/CompilerIdC/CMakeCCompilerId.c b/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CompilerIdC/CMakeCCompilerId.c
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diff --git a/simple_raw_comm/build/CMakeFiles/3.27.4/CompilerIdC/a.out b/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CompilerIdC/a.out
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diff --git a/simple_raw_comm/build/CMakeFiles/rtde-client.dir/compiler_depend.internal b/basic_ur_rtde_usage/build/CMakeFiles/rtde-client.dir/compiler_depend.internal
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diff --git a/simple_raw_comm/build/CMakeFiles/rtde-client.dir/main.cpp.o b/basic_ur_rtde_usage/build/CMakeFiles/rtde-client.dir/main.cpp.o
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diff --git a/simple_raw_comm/build/Makefile b/basic_ur_rtde_usage/build/Makefile
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rename from simple_raw_comm/build/Makefile
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diff --git a/simple_raw_comm/build/cmake_install.cmake b/basic_ur_rtde_usage/build/cmake_install.cmake
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rename from simple_raw_comm/build/cmake_install.cmake
rename to basic_ur_rtde_usage/build/cmake_install.cmake
diff --git a/simple_raw_comm/build/compile_commands.json b/basic_ur_rtde_usage/build/compile_commands.json
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rename from simple_raw_comm/build/compile_commands.json
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diff --git a/simple_raw_comm/build/examples/resources/rtde_input_recipe.txt b/basic_ur_rtde_usage/build/examples/resources/rtde_input_recipe.txt
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rename from simple_raw_comm/build/examples/resources/rtde_output_recipe.txt
rename to basic_ur_rtde_usage/build/examples/resources/rtde_output_recipe.txt
diff --git a/simple_raw_comm/build/resources/external_control.urscript b/basic_ur_rtde_usage/build/resources/external_control.urscript
similarity index 100%
rename from simple_raw_comm/build/resources/external_control.urscript
rename to basic_ur_rtde_usage/build/resources/external_control.urscript
diff --git a/simple_raw_comm/build/rtde-client b/basic_ur_rtde_usage/build/rtde-client
similarity index 100%
rename from simple_raw_comm/build/rtde-client
rename to basic_ur_rtde_usage/build/rtde-client
diff --git a/simple_raw_comm/compile_commands.json b/basic_ur_rtde_usage/compile_commands.json
similarity index 100%
rename from simple_raw_comm/compile_commands.json
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diff --git a/simple_raw_comm/main.cpp b/basic_ur_rtde_usage/main.cpp
similarity index 99%
rename from simple_raw_comm/main.cpp
rename to basic_ur_rtde_usage/main.cpp
index 4932b72f6416087770811c628a89f2c405b85c6f..d7b6cd3e439542630d83851844069bd33599360d 100644
--- a/simple_raw_comm/main.cpp
+++ b/basic_ur_rtde_usage/main.cpp
@@ -116,7 +116,6 @@ int main(int argc, char *argv[]) {
                                  INPUT_RECIPE, &handleRobotProgramState,
                                  HEADLESS, std::move(tool_comm_setup),
                                  CALIBRATION_CHECKSUM));
-
   // Once RTDE communication is started, we have to make sure to read from the
   // interface buffer, as otherwise we will get pipeline overflows. Therefor, do
   // this directly before starting your main loop.
diff --git a/simple_raw_comm/resources/rtde_input_recipe.txt b/basic_ur_rtde_usage/resources/rtde_input_recipe.txt
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diff --git a/simple_raw_comm/resources/rtde_output_recipe.txt b/basic_ur_rtde_usage/resources/rtde_output_recipe.txt
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rename from simple_raw_comm/resources/rtde_output_recipe.txt
rename to basic_ur_rtde_usage/resources/rtde_output_recipe.txt
diff --git a/simple_raw_comm/rtde_client.cpp b/basic_ur_rtde_usage/rtde_client.cpp
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rename from simple_raw_comm/rtde_client.cpp
rename to basic_ur_rtde_usage/rtde_client.cpp
diff --git a/simple_raw_comm/spline_example.cpp b/basic_ur_rtde_usage/spline_example.cpp
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rename from simple_raw_comm/spline_example.cpp
rename to basic_ur_rtde_usage/spline_example.cpp
diff --git a/manipulator_viz/__pycache__/make_run.cpython-310.pyc b/initial_python_solution/__pycache__/make_run.cpython-310.pyc
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diff --git a/manipulator_viz/arms/another_debug_dh b/initial_python_solution/arms/another_debug_dh
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diff --git a/manipulator_viz/arms/j2n6s300_dh_params b/initial_python_solution/arms/j2n6s300_dh_params
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rename to initial_python_solution/arms/j2s7s300_dh_params
diff --git a/manipulator_viz/arms/kinova_jaco_params b/initial_python_solution/arms/kinova_jaco_params
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rename from manipulator_viz/arms/kinova_jaco_params
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diff --git a/manipulator_viz/arms/kuka_lbw_iiwa_dh_params b/initial_python_solution/arms/kuka_lbw_iiwa_dh_params
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diff --git a/manipulator_viz/arms/robot_parameters2 b/initial_python_solution/arms/robot_parameters2
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rename from manipulator_viz/arms/robot_parameters2
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diff --git a/manipulator_viz/arms/testing_dh_parameters b/initial_python_solution/arms/testing_dh_parameters
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rename from manipulator_viz/arms/testing_dh_parameters
rename to initial_python_solution/arms/testing_dh_parameters
diff --git a/manipulator_viz/arms/ur10e_dh_parameters_from_the_ur_site b/initial_python_solution/arms/ur10e_dh_parameters_from_the_ur_site
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rename from manipulator_viz/arms/ur10e_dh_parameters_from_the_ur_site
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diff --git a/manipulator_viz/arms/ur5e_dh b/initial_python_solution/arms/ur5e_dh
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diff --git a/manipulator_viz/manipulator_visual_motion_analyzer.py b/initial_python_solution/manipulator_visual_motion_analyzer.py
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rename from manipulator_viz/manipulator_visual_motion_analyzer.py
rename to initial_python_solution/manipulator_visual_motion_analyzer.py
diff --git a/manipulator_viz/robot_stuff/InverseKinematics.py b/initial_python_solution/robot_stuff/InverseKinematics.py
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