diff --git a/python/examples/clik.py b/python/examples/clik.py
index 933b9bf209c293cd9066bc5a5e469afce2f1109a..512934296fb2fbf38f00cc75a48bb657685f33f6 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -5,7 +5,8 @@ from ur_simple_control.managers import ControlLoopManager, RobotManager
 # TODO merge the 2 clik files
 from ur_simple_control.clik.clik_point_to_point import getClikController, controlLoopClik 
 # TODO write this in managers and automate name generation
-import pickle
+from ur_simple_control.util.logging_utils import saveLog
+
 
 """
 Every imaginable magic number, flag and setting is put in here.
@@ -77,17 +78,6 @@ if __name__ == "__main__":
     # TODO create a logging function in util.
     # something that generates a file name from something in args.
     # also save args there
-    log_dict = loop_manager.run()
-    # save the logged data
-    file_path = "./data/clik_run_001.pickle"
-    # pretty sure you need to open it binary for pickling
-    log_file = open(file_path, 'wb')
-    pickle.dump(log_dict, log_file)
-    log_file.close()
-    # but also save the arguments
-    file_path = "./data/clik_run_001_args.pickle"
-    # pretty sure you need to open it binary for pickling
-    log_file = open(file_path, 'wb')
-    pickle.dump(args, log_file)
-    log_file.close()
+    log_dict, final_iteration = loop_manager.run()
+    saveLog(log_dict, final_iteration, args)
 
diff --git a/python/examples/data/clik_run_001.pickle b/python/examples/data/clik_run_001.pickle
index 22dba69ab354c9446dc0c1977f138a6fbb4aa299..b6f8dbe767e5519830eb411f9c88c84156970430 100644
Binary files a/python/examples/data/clik_run_001.pickle and b/python/examples/data/clik_run_001.pickle differ
diff --git a/python/examples/data/clik_run_001_args.pickle b/python/examples/data/clik_run_001_args.pickle
index 9d20c5ca9feb7d5adf4978d8de0677386d30d4ab..fb65f3f093492f29f98eb79379dec8aa87c43af7 100644
Binary files a/python/examples/data/clik_run_001_args.pickle and b/python/examples/data/clik_run_001_args.pickle differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 06abf75e6035af95aab86641f1829c52d5ec7790..f4960c80afce32ba7e4304d63a00bff28ebeec6c 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -275,12 +275,12 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
     #Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
     wrench = robot.getWrench()
     wrench = wrench - wrench_offset
-    #wrench = np.average(np.array(past_data['wrench']), axis=0)
+    wrench = np.average(np.array(past_data['wrench']), axis=0)
 
     # first-order low pass filtering instead
     # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
     beta = 0.007
-    wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+    #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
 
     wrench = robot.getMtool().toDualActionMatrix().T @ wrench
     wrench = Z @ robot.getWrench()
@@ -400,9 +400,9 @@ if __name__ == "__main__":
         # NOTE: not a single one is the one, the f/t sensor sucks
         # and this is the best number to change to get it to work [upside_down_emoji]
         # but this is very close
-        #path = path + np.array([0.0, 0.0, -0.0803])
+        path = path + np.array([0.0, 0.0, -0.0785])
         #path = path + np.array([0.0, 0.0, -0.1043])
-        path = path + np.array([0.0, 0.0, -0.0100])
+        #path = path + np.array([0.0, 0.0, -0.1000])
         #path = path + np.array([0.0, 0.0, -0.1573])
         #path = path + np.array([0.0, 0.2938, 0.0])
 
@@ -477,14 +477,14 @@ if __name__ == "__main__":
     first_q = np.array(first_q)
     #pin.forwardKinematics(robot.model, robot.data, first_q)
     mtool = robot.getMtool(q_given=first_q)
-    #mtool.translation[1] = mtool.translation[1] - 0.0035
-    mtool.translation[1] = mtool.translation[1] - 0.03
+    mtool.translation[1] = mtool.translation[1] - 0.0035
+    #mtool.translation[1] = mtool.translation[1] - 0.04
     moveL(args, robot, mtool)
     #moveL
 
     #moveJ(args, robot, dmp.pos.reshape((6,)))
     # and now we can actually run
-    loop_manager.run()
+    log_dict, final_iteration = loop_manager.run()
     mtool = robot.getMtool()
     mtool.translation[1] = mtool.translation[1] - 0.1
     moveL(args, robot, mtool)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4f0ced8473c19dc1d29e97cbdf3acff06fd9e75
--- /dev/null
+++ b/python/examples/joint_trajectory.csv
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ec83a9f25609bc316da683202a4869aa939e42b
--- /dev/null
+++ b/python/examples/path_in_pixels.csv
@@ -0,0 +1,109 @@
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index 8b140f2d77f799964fd396897a60bdec203a42e5..901e1b4e539c3017f564268715eee48eb00f25c4 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -305,7 +305,7 @@ if __name__ == "__main__":
 
     #moveJ(args, robot, dmp.pos.reshape((6,)))
     # and now we can actually run
-    loop_manager.run()
+    log_dict, final_iteration = loop_manager.run()
 
     for i in range(300):
         vel_cmd = np.zeros(6)
diff --git a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc
index f140aa92fbed2b3fe15daff025b45847443394bb..887f36a4e47f78717aeae754bdc4ee1ce9bb15f6 100644
Binary files a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc and b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc differ
diff --git a/python/ur_simple_control/basics/basics.py b/python/ur_simple_control/basics/basics.py
index 82a3796c32c3794fe89d1fe2e5a6baf7df4193bc..2f10c50633c2b87ab94fef8b755b24dd18ec7971 100644
--- a/python/ur_simple_control/basics/basics.py
+++ b/python/ur_simple_control/basics/basics.py
@@ -50,7 +50,7 @@ def moveJ(args, robot, q_desired):
     controlLoop = partial(moveJControlLoop, q_desired, robot)
     # we're not using any past data or logging, hence the empty arguments
     loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
-    loop_manager.run()
+    log_dict, final_iteration = loop_manager.run()
     # TODO: remove, this isn't doing anything
     time.sleep(0.01)
     print("MoveJ done: convergence achieved, reached destionation!")
diff --git a/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc
index f770d71cc54659c570bd13f21e6d8b0bca454d94..bd5b467ed659eded72709b979c8c7912649263f4 100644
Binary files a/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc and b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc differ
diff --git a/python/ur_simple_control/clik/clik_point_to_point.py b/python/ur_simple_control/clik/clik_point_to_point.py
index 971d4d96290bf73f002e52de4f6ed955312aba73..a0470fa1c6214b7d780ffc98eb36ff5a5a3b04e3 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -206,7 +206,7 @@ def moveUntilContact(args, robot, speed):
     controlLoop = partial(moveUntilContactControlLoop, speed, robot, clik_controller)
     # we're not using any past data or logging, hence the empty arguments
     loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
-    loop_manager.run()
+    log_dict, final_iteration = loop_manager.run()
     # TODO: remove, this isn't doing anything
     time.sleep(0.01)
     print("Colision detected!!")
@@ -225,19 +225,18 @@ def moveL(args, robot, goal_point):
     controlLoop = partial(controlLoopClik, robot, clik_controller)
     # we're not using any past data or logging, hence the empty arguments
     loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
-    loop_manager.run()
+    log_dict, final_iteration = loop_manager.run()
     # TODO: remove, this isn't doing anything
     time.sleep(0.01)
     print("MoveL done: convergence achieved, reached destionation!")
 
 
-# TODO: remove once you know shit works (you might be importing incorectly)
-#if __name__ == "__main__": 
-#    args = get_args()
-#    robot = RobotManager(args)
-#    Mgoal = robot.defineGoalPoint()
-#    clik_controller = getClikController(args)
-#    controlLoop = partial(controlLoopClik, robot, clik_controller)
-#    # we're not using any past data or logging, hence the empty arguments
-#    loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
-#    loop_manager.run()
+if __name__ == "__main__": 
+    args = get_args()
+    robot = RobotManager(args)
+    Mgoal = robot.defineGoalPoint()
+    clik_controller = getClikController(args)
+    controlLoop = partial(controlLoopClik, robot, clik_controller)
+    # we're not using any past data or logging, hence the empty arguments
+    loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
+    log_dict, final_iteration = loop_manager.run()
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 0a0eeb23d98e35556280a14f289d2f494db40586..9e4962bb904975d1e1bfa87854041db75fff5b25 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -148,8 +148,16 @@ class ControlLoopManager:
                 self.past_data[key].append(latest_to_save_dict[key])
             
             # log the data
+            # check that you can
+            # TODO only need to check this once, pls enforce better
             for key in log_entry_dict:
+                if key not in self.log_dict.keys():
+                    break
+                    #self.robot_manager.stopHandler(None, None)
                 self.log_dict[key][i] = log_entry_dict[key]
+            
+            #for key in log_entry_dict:
+            #    self.log_dict[key][i] = log_entry_dict[key]
 
             # break if done
             if breakFlag:
@@ -161,6 +169,7 @@ class ControlLoopManager:
                 continue
             else:
                 time.sleep(self.robot_manager.dt - diff)
+        final_iteration = i
 # TODO: provide a debug flag for this
 #        if i < self.max_iterations -1:
 #            print("success in", i, "iterations!")
@@ -170,7 +179,8 @@ class ControlLoopManager:
 #        if not self.args.pinocchio_only:
 #            self.robot_manager.stopHandler(None, None)
 
-        return self.log_dict
+        return self.log_dict, final_iteration
+
 
 """
 robotmanager:
@@ -304,6 +314,8 @@ class RobotManager:
         for i in range(300):
             vel_cmd = np.zeros(6)
             self.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+        # hopefully this actually stops it
+        self.rtde_control.speedStop(self.acceleration)
         exit()
 
     """
diff --git a/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c6c2c90ef4c8ebf132ae34444b0ad309926e8926
Binary files /dev/null and b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc differ
diff --git a/python/ur_simple_control/util/logging_utils.py b/python/ur_simple_control/util/logging_utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..730ff2c23de6775015e64007f0de2156f621bd57
--- /dev/null
+++ b/python/ur_simple_control/util/logging_utils.py
@@ -0,0 +1,51 @@
+import pickle
+import numpy as np
+
+# we're not 
+def saveLog(log_dict, final_iteration, args):
+    # shave off the zeros, noone needs 'em
+    for key in log_dict:
+        log_dict[key] = log_dict[key][:final_iteration]
+    # TODO make generic
+    # preferably name files after arguments
+    run_file_path = "./data/clik_run_001.pickle"
+    args_file_path = "./data/clik_run_001_args.pickle"
+    # save the logged data
+    # you need to open it binary for pickling
+    log_file = open(run_file_path, 'wb')
+    pickle.dump(log_dict, log_file)
+    log_file.close()
+    # but also save the arguments
+    # pretty sure you need to open it binary for pickling
+    log_file = open(args_file_path, 'wb')
+    pickle.dump(args, log_file)
+    log_file.close()
+
+
+def cleanUpRun(log_dict, final_iteration, n_iterations_you_want):
+    # shave off the zeros at the end
+    for key in log_dict:
+        log_dict[key] = log_dict[key][:final_iteration]
+    # and now keep only every nth iteration
+    # because you don't want to plot too much
+    if final_iteration > n_iterations_you_want:
+        nth_to_keep = final_iteration // n_iterations_you_want
+        bool_array = [i % nth_to_keep == 0 for i in range(final_iteration)]
+        # actual final number
+        # True is turned to 0, False to 0, praised by python and its ways
+        n_iters = np.sum(bool_array)
+        for key in log_dict:
+            log_dict[key] = log_dict[key][bool_array]
+
+    return log_dict
+
+
+def loadRunForAnalysis(log_data_file_name, args_file_name):
+    log_data_file = open(log_data_file_name, 'rb')
+    args_file = open(args_file_name, 'rb')
+    log_data = pickle.load(log_data_file)
+    args = pickle.load(args_file)
+    # if you're analyzing, you're not running anything on the real robot
+    args.simulation = True
+    args.pinocchio_only = True
+    return log_data, args
diff --git a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
index aa401f468e0e56aee4e7822da510b5bffef5eac5..10555675ccaa8555886d274389b1e1e238457a95 100644
--- a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
+++ b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
@@ -19,6 +19,7 @@ from robot_stuff.drawing import *
 from robot_stuff.inv_kinm import *
 from ur_simple_control.visualize.make_run import makeRun, loadRun
 from ur_simple_control.managers import RobotManager
+from ur_simple_control.util.logging_utils import loadRunForAnalysis, cleanUpRun
 
 import numpy as np
 # it is the best solution for a particular problem
@@ -189,22 +190,22 @@ class ManipulatorVisualMotionAnalyzer:
         # putting it into this class so that python remembers it 'cos reasons, whatever
         # TODO: load this from run log files later
         # or just remove it since you're not generating runs from here
-        self.controller1 = getController("")
-        #self.controller2 = getController("invKinm_Jac_T")
+#        self.controller1 = getController("")
+#        self.controller2 = getController("invKinm_Jac_T")
         # TODO: load runs, not make them
         # but deliver the same format.
         # TODO: ensure you're saving AT LEAST what's required here
         # NOTE: the jacobian svd is computed offline in these
         # TODO: make loading of multiple datas possible
-        #self.ik_env.robots.append(Robot_raw(robot_name="no_sim"))
         # TODO this data has 0 bussiness being defined in ik_env dude
         # it was probably there to get object permanence before this was a class,
         # but still dawg
         if data == None:
+            self.ik_env.robots.append(Robot_raw(robot_name="no_sim"))
             self.ik_env.data.append(makeRun(self.controller1, self.ik_env, self.n_iters, 0))
+            self.ik_env.data.append(makeRun(self.controller2, self.ik_env, self.n_iters, 1))
         else:
             self.ik_env.data.append(data)
-        #self.ik_env.data.append(makeRun(self.controller2, self.ik_env, self.n_iters, 1))
 
 
         # ugly front end code is ugly.
@@ -875,16 +876,14 @@ if __name__ == "__main__":
     root = Tk()
     # TODO: change to something different obviously
     # or add a button to load or something, idc
-    log_data_file = open("/home/gospodar/lund/praxis/ur_simple_control/python/examples/data/clik_run_001.pickle", 'rb')
-    args_file = open("/home/gospodar/lund/praxis/ur_simple_control/python/examples/data/clik_run_001_args.pickle", 'rb')
-    log_data = pickle.load(log_data_file)
-    args = pickle.load(args_file)
-    # i need pinocchio etc, this is how i can get it with 0 additional hassle
-    args.simulation = True
-    args.pinocchio_only = True
+    log_data_file_name = "/home/gospodar/lund/praxis/ur_simple_control/python/examples/data/clik_run_001.pickle"
+    args_file_name = "/home/gospodar/lund/praxis/ur_simple_control/python/examples/data/clik_run_001_args.pickle"
+    log_data, args = loadRunForAnalysis(log_data_file_name, args_file_name)
+    log_data = cleanUpRun(log_data, log_data['qs'].shape[0], 200)
     robot = RobotManager(args)
     log_data = loadRun(args, robot, log_data)
     gui = ManipulatorVisualMotionAnalyzer(root, queue, log_data, False)
+    #gui = ManipulatorVisualMotionAnalyzer(root, queue, None, False)
 
     # have mainloop 'cos from tkinter import *
     mainloop()