diff --git a/python/convenience_tool_box/.ft_readings.py.swp b/python/convenience_tool_box/.ft_readings.py.swp
deleted file mode 100644
index af38ae571664e934dff03f6a299a13e6513fcdcd..0000000000000000000000000000000000000000
Binary files a/python/convenience_tool_box/.ft_readings.py.swp and /dev/null differ
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
index 608515cc2f32846a7797b33739a03eee7b7a2eb0..6e3ee7c8deaf9a1128e06d8ac860c001a8242c8f 100644
Binary files a/python/examples/.drawing_from_input_drawing.py.swp and b/python/examples/.drawing_from_input_drawing.py.swp differ
diff --git a/python/examples/.point_impedance_control.py.swp b/python/examples/.point_impedance_control.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..3bdcf89eea774c2548e7529193408a3233a9ae10
Binary files /dev/null and b/python/examples/.point_impedance_control.py.swp differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 7e41d94035b42223b7c4be15b0de0d7228b8e2f8..a3f9b79c85d67f827cd0e54baff4f05f54333e7e 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -260,7 +260,9 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
     # it's probably worse, but maybe some sensor fusion-type thing
     # is actually better, who knows.
     # also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
+    #Z = np.diag(np.array([0.6, 0.6, 1.0, 0.5, 0.5, 0.5]))
     Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
+    #Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
     wrench = Z @ robot.getWrench()
     # evil hack because wrench is  not zeros (why? - no idea whatsoever)
     # TODO: run it empty and zero it
@@ -383,7 +385,7 @@ if __name__ == "__main__":
         # but this is very close
         #path = path + np.array([0.0, 0.0, -0.0803])
         #path = path + np.array([0.0, 0.0, -0.1043])
-        path = path + np.array([0.0, 0.0, -0.0801])
+        path = path + np.array([0.0, 0.0, -0.0805])
         #path = path + np.array([0.0, 0.0, -0.1573])
         #path = path + np.array([0.0, 0.2938, 0.0])
 
@@ -458,7 +460,7 @@ 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] - 0.005
+    mtool.translation[1] = mtool.translation[1] - 0.004
     moveL(args, robot, mtool)
     #moveL
 
diff --git a/python/examples/fts.png b/python/examples/fts.png
new file mode 100644
index 0000000000000000000000000000000000000000..1264575745d49472df2edfd19549127f77304aa1
Binary files /dev/null and b/python/examples/fts.png differ
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index e07ac52648f0113a8f15c8e06188cd91899b1097..c4a21c569d94c35c8148428ccf27b77d33dfc682 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,4012 +1,2090 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 9f0fa48dd35d6f8bf2035fd69192a8b36fc3458a..992ad549f7a9ac979fc9452840d22d774bd922eb 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..ccfd78f1e8bbac0285363081a6c0e50141a8bbfa
--- /dev/null
+++ b/python/examples/point_impedance_control.py
@@ -0,0 +1,304 @@
+import pinocchio as pin
+import numpy as np
+import matplotlib.pyplot as plt
+import copy
+import argparse
+import time
+from functools import partial
+from ur_simple_control.util.get_model import get_model
+from ur_simple_control.visualize.visualize import plotFromDict
+from ur_simple_control.util.draw_path import drawPath
+from ur_simple_control.dmp.dmp import DMP, NoTC,TCVelAccConstrained 
+# TODO merge these clik files as well, they don't deserve to be separate
+# TODO but first you need to clean up clik.py as specified there
+from ur_simple_control.clik.clik_point_to_point import getClikController, moveL, moveUntilContact
+from ur_simple_control.clik.clik_trajectory_following import map2DPathTo3DPlane, clikCartesianPathIntoJointPath
+from ur_simple_control.managers import ControlLoopManager, RobotManager
+from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
+from ur_simple_control.visualize.visualize import plotFromDict
+from ur_simple_control.basics.basics import moveJ
+
+#######################################################################
+#                            arguments                                #
+#######################################################################
+
+def calibrateFT(robot):
+    ft_readings = []
+    for i in range(2000):
+        start = time.time()
+        q = robot.rtde_receive.getActualQ()
+        ft = robot.rtde_receive.getActualTCPForce()
+        tau = robot.rtde_control.getJointTorques()
+        current = robot.rtde_receive.getActualCurrent()
+        #print("current", current)
+        #print("getActualTCPForce", ft)
+        #print("tau", tau)
+        ft_readings.append(ft)
+        end = time.time()
+        diff = end - start
+        if diff < robot.dt:
+            time.sleep(robot.dt - diff)
+
+    ft_readings = np.array(ft_readings)
+    avg = np.average(ft_readings, axis=0)
+    print("average ft time", avg)
+    return avg
+
+def getArgs():
+    #######################################################################
+    #                          generic arguments                          #
+    #######################################################################
+    parser = argparse.ArgumentParser(description='Make a drawing on screen,\
+            watch the robot do it on the whiteboard.',
+            formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    # TODO this one won't really work but let's leave it here for the future
+    parser.add_argument('--simulation', action=argparse.BooleanOptionalAction, 
+            help="whether you are running the UR simulator. \
+                    NOTE: doesn't actually work because it's not a physics simulator", \
+                    default=False)
+    parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction, 
+            help="whether you want to just integrate with pinocchio.\
+                    NOTE: doesn't actually work because it's not a physics simulator", \
+                    default=False)
+    parser.add_argument('--visualize', action=argparse.BooleanOptionalAction, 
+            help="whether you want to visualize with gepetto, but \
+                    NOTE: not implemented yet", default=False)
+    parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
+            help="whether you're using the gripper", default=False)
+    parser.add_argument('--acceleration', type=float, \
+            help="robot's joints acceleration. scalar positive constant, \
+            max 1.7, and default 0.4. \
+            BE CAREFUL WITH THIS. the urscript doc says this is 'lead axis acceleration'.\
+            TODO: check what this means", default=0.3)
+    parser.add_argument('--speed-slider', type=float,\
+            help="cap robot's speed with the speed slider \
+                    to something between 0 and 1, 1.0 by default because for dmp. \
+                    BE CAREFUL WITH THIS.", default=1.0)
+    parser.add_argument('--max-iterations', type=int, \
+            help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
+    #######################################################################
+    #                 your controller specific arguments                  #
+    #######################################################################
+    # not applicable here, but leaving it in the case it becomes applicable
+    # it's also in the robot manager even though it shouldn't be
+    parser.add_argument('--past-window-size', type=int, \
+            help="how many timesteps of past data you want to save", default=5)
+    parser.add_argument('--goal-error', type=float, \
+            help="the final position error you are happy with. NOTE: not used here", \
+            default=1e-3)
+    # TODO: test the interaction of this and the overall demo
+    parser.add_argument('--tikhonov-damp', type=float, \
+            help="damping scalar in tiknohov regularization.\
+            This is used when generating the joint trajectory from the drawing.", \
+            default=1e-2)
+    # TODO add the rest
+    parser.add_argument('--clik-controller', type=str, \
+            help="select which click algorithm you want", \
+            default='dampedPseudoinverse', \
+            choices=['dampedPseudoinverse', 'jacobianTranspose'])
+        # maybe you want to scale the control signal
+    parser.add_argument('--controller-speed-scaling', type=float, \
+            default='1.0', help='not actually_used atm')
+    #############################
+    #  dmp  specific arguments  #
+    #############################
+    parser.add_argument('--temporal-coupling', action=argparse.BooleanOptionalAction, \
+            help="whether you want to use temporal coupling", default=True)
+    parser.add_argument('--kp', type=float, \
+            help="proportial control constant for position errors", \
+            default=1.0)
+    parser.add_argument('--kv', type=float, \
+            help="damping in impedance control", \
+            default=0.01)
+    parser.add_argument('--tau0', type=float, \
+            help="total time needed for trajectory. if you use temporal coupling,\
+                  you can still follow the path even if it's too fast", \
+            default=5)
+    parser.add_argument('--gamma-nominal', type=float, \
+            help="positive constant for tuning temporal coupling: the higher,\
+            the fast the return rate to nominal tau", \
+            default=1.0)
+    parser.add_argument('--gamma-a', type=float, \
+            help="positive constant for tuning temporal coupling, potential term", \
+            default=0.5)
+    parser.add_argument('--eps-tc', type=float, \
+            help="temporal coupling term, should be small", \
+            default=0.001)
+    parser.add_argument('--alpha', type=float, \
+            help="force feedback proportional coefficient", \
+            default=0.007)
+    # TODO add low pass filtering and make it's parameters arguments too
+    #######################################################################
+    #                       task specific arguments                       #
+    #######################################################################
+    # TODO measure this for the new board
+    parser.add_argument('--board-width', type=float, \
+            help="width of the board (in meters) the robot will write on", \
+            default=0.3)
+    parser.add_argument('--board-height', type=float, \
+            help="height of the board (in meters) the robot will write on", \
+            default=0.3)
+    parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
+            help="whether you want to do calibration", default=False)
+    parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
+            help="whether draw a new picture, or use the saved path path_in_pixels.csv", default=True)
+    parser.add_argument('--pick_up_marker', action=argparse.BooleanOptionalAction, \
+            help="""
+    whether the robot should pick up the marker.
+    NOTE: THIS IS FROM A PREDEFINED LOCATION.
+    """, default=True)
+    parser.add_argument('--find-marker-offset', action=argparse.BooleanOptionalAction, \
+            help="""
+    whether you want to do find marker offset (recalculate TCP
+    based on the marker""", default=False)
+    parser.add_argument('--n-calibration-tests', type=int, \
+            help="number of calibration tests you want to run", default=10)
+    parser.add_argument('--clik-goal-error', type=float, \
+            help="the clik error you are happy with", default=1e-2)
+    parser.add_argument('--max-init-clik-iterations', type=int, \
+            help="number of max clik iterations to get to the first point", default=10000)
+    parser.add_argument('--max-running-clik-iterations', type=int, \
+            help="number of max clik iterations between path points", default=1000)
+
+    args = parser.parse_args()
+    if args.gripper and args.simulation:
+        raise NotImplementedError('Did not figure out how to put the gripper in \
+                the simulation yet, sorry :/ . You can have only 1 these flags right now')
+    return args
+
+
+# go and pick up the marker
+def getMarker(q_init):
+    pass
+
+
+#######################################################################
+#                            control loop                             #
+#######################################################################
+
+# feedforward velocity, feedback position and force for impedance
+def controller():
+    pass
+
+# TODO:
+# regarding saving data you have 2 options:
+# 1) explicitely return what you want to save - you can't magically read local variables
+# 2) make controlLoop a class and then save handle the saving behind the scenes -
+#    now you these variables are saved in a class so they're not local variables
+# option 1 is clearly more hands-on and thus worse
+# option 2 introduces a third big class and makes everything convoluted.
+# for now, we go for option 1) because it's simpler to implement and deal with.
+# but in the future, implementing 2) should be tried. you really have to try 
+# to do it cleanly to see how good/bad it is.
+# in that case you'd most likely want to inherit ControlLoopManager and go from there.
+# you'd still need to specify what you're saving with self.that_variable so no matter
+# there's no running away from that in any case.
+# it's 1) for now, it's the only non-idealy-clean part of this solution, and it's ok really.
+# TODO but also look into something fancy like some decorator or something and try
+# to find option 3)
+
+# control loop to be passed to ControlLoopManager
+def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_data):
+    breakFlag = False
+    # TODO rename this into something less confusing
+    save_past_dict = {}
+    log_item = {}
+    q = robot.getQ()
+    # TODO look into UR code/api for estimating the same
+    # based on currents in the joints.
+    # it's probably worse, but maybe some sensor fusion-type thing
+    # is actually better, who knows.
+    # also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
+    #Z = np.diag(np.array([0.6, 0.6, 1.0, 0.5, 0.5, 0.5]))
+    #Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
+    Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+    #Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
+    wrench = Z @ robot.getWrench()
+    # evil hack because wrench is  not zeros (why? - no idea whatsoever)
+    wrench = wrench - wrench_offset
+    # deepcopy for good coding practise (and correctness here)
+    save_past_dict['wrench'] = copy.deepcopy(wrench)
+    # rolling average
+    wrench = np.average(np.array(past_data['wrench']), axis=0)
+    if i % 100 == 0:
+        print(wrench)
+    # first-order low pass filtering instead
+    # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
+    #beta = 0.01
+    #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+    pin.forwardKinematics(robot.model, robot.data, q)
+    J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
+    dq = robot.getQd()[:6].reshape((6,1))
+    # get joitn 
+    tau = J.T @ wrench
+    tau = tau[:6].reshape((6,1))
+    # compute control law:
+    # - feedback the position 
+    #print(q_init[:6])
+    #print(q[:6])
+    #print(args.alpha * tau)
+    vel_cmd = args.kp * (q_init[:6].reshape((6,1)) - q[:6].reshape((6,1))) - args.alpha * tau - args.kv * dq
+    #print(vel_cmd)
+    robot.sendQd(vel_cmd)
+
+    # immediatelly stop if something weird happened (some non-convergence)
+    if np.isnan(vel_cmd[0]):
+        breakFlag = True
+
+    # log what you said you'd log
+    # TODO fix the q6 situation (hide this)
+    log_item['qs'] = q[:6].reshape((6,))
+    log_item['dqs'] = dq.reshape((6,))
+    log_item['wrench'] = wrench.reshape((6,))
+
+    return breakFlag, save_past_dict, log_item
+
+if __name__ == "__main__":
+    #######################################################################
+    #                           software setup                            #
+    #######################################################################
+    args = getArgs()
+    clikController = getClikController(args)
+    robot = RobotManager(args)
+
+    # calibrate FT first
+    wrench_offset = calibrateFT(robot)
+    
+    # TODO and NOTE the weight, TCP and inertial matrix needs to be set on the robot
+    # you already found an API in rtde_control for this, just put it in initialization 
+    # under using/not-using gripper parameters
+    # ALSO NOTE: to use this you need to change the version inclusions in
+    # ur_rtde due to a bug there in the current ur_rtde + robot firmware version 
+    # (the bug is it works with the firmware verion, but ur_rtde thinks it doesn't)
+    # here you give what you're saving in the rolling past window 
+    # it's initial value.
+    # controlLoopManager will populate the queue with these initial values
+    save_past_dict = {
+            'wrench' : np.zeros(6),
+        }
+    # here you give it it's initial value
+    log_dict = {
+            'qs' : np.zeros((args.max_iterations, 6)),
+            'dqs' : np.zeros((args.max_iterations, 6)),
+            'wrench' : np.zeros((args.max_iterations, 6)),
+        }
+    q_init = robot.getQ()
+
+    controlLoop = partial(controlLoopPointImpedance, wrench_offset, q_init, controller, robot)
+    loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_dict)
+
+    #moveJ(args, robot, dmp.pos.reshape((6,)))
+    # and now we can actually run
+    loop_manager.run()
+
+    plotFromDict(log_dict, args)
+    robot.stopHandler(None, None)
+    robot.stopHandler(None, None)
+    robot.stopHandler(None, None)
+    # plot results
+    plotFromDict(log_dict, args)
+    # TODO: add some math to analyze path precision
+
+    
+
+
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
deleted file mode 100644
index 20dee56a41eee396aafa8eb4b0238c05bb6fdacc..0000000000000000000000000000000000000000
Binary files a/python/ur_simple_control/.managers.py.swp and /dev/null differ