diff --git a/README.md b/README.md
index 819cacdaf9b6cd3caa7a43dbe8f2cc7c2642738b..163a6dcf0abd4c497d75f42da5a8087732c2bae2 100644
--- a/README.md
+++ b/README.md
@@ -8,22 +8,19 @@
 - some basic tests will be here as well, other projects built on this will be in separate repos
 
 # TODO
-5. find a convenient, fast and correct way to integrate dynamics client side --> pinocchio
-6. implement things:
-	6.0 (solved) create the cmake to make this work
-	6.1 get ur5e urdf
+focus: doing it all in C++ as it will most likely be equally easy when the rust falls off,
+but it will work better and be easier to debug in the future
+	6.1 get ur5e urdf that works
 		---> you need to generate it from officile ur xacro files
 	6.2 essentially copy-paste pinocchio sample clik, but implement your inverse-kinematics algorithms
 https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_b-examples_d-inverse-kinematics.html
 	6.3 get the ur simulator to work so that you can see things while testing with actual signals
 		(check their github page, their docker does not work atm, just find another one/run it on metal, you
 		  know that the connection is OK)
-	6.4 (optional) improvements:
+	6.4  improvements:
+		- write some getting-started-type documentation so that students aren't intimidated
 		- get pybind for stuff you write in c++ (really no rush there)
 		- re-implement clik so that students can use it
-		- write some getting-started-type documentation so that students aren't intimidated
 7. force control on the gripper 
-8. get a project group to do impedance/admittance control --> hopefully done
-9. see if something needs to be c++ed
 10. basic environment simulation: dynamics with lugre friction via straight o.d.e. integration
 
diff --git a/basic_ur_rtde_usage/.main.cpp.swp b/basic_ur_rtde_usage/.main.cpp.swp
deleted file mode 100644
index f312dd4c830401aadfa304574c58b8f0a6961b6e..0000000000000000000000000000000000000000
Binary files a/basic_ur_rtde_usage/.main.cpp.swp and /dev/null differ
diff --git a/basic_ur_rtde_usage/CMakeLists.txt b/basic_ur_rtde_usage/CMakeLists.txt
deleted file mode 100644
index c65b2bb8c111dfc382a3bc05aa54c58902e60c53..0000000000000000000000000000000000000000
--- a/basic_ur_rtde_usage/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
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-set ( CMAKE_EXPORT_COMPILE_COMMANDS ON )
-
-find_package(ur_client_library REQUIRED)
-add_executable(rtde-client main.cpp)
-target_link_libraries(rtde-client ur_client_library::urcl)
diff --git a/basic_ur_rtde_usage/build/CMakeCache.txt b/basic_ur_rtde_usage/build/CMakeCache.txt
deleted file mode 100644
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-#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
-#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
-   /* The third version component from --version is an update index,
-      but no macro is provided for it.  */
-#  define COMPILER_VERSION_PATCH DEC(0)
-# endif
-# if defined(__INTEL_COMPILER_BUILD_DATE)
-   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
-#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
-# endif
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-# if defined(__GNUC__)
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
-# elif defined(__GNUG__)
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
-# endif
-# if defined(__GNUC_MINOR__)
-#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
-# if defined(__GNUC_PATCHLEVEL__)
-#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
-# define COMPILER_ID "IntelLLVM"
-#if defined(_MSC_VER)
-# define SIMULATE_ID "MSVC"
-#endif
-#if defined(__GNUC__)
-# define SIMULATE_ID "GNU"
-#endif
-/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
- * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
- * VVVV is no smaller than the current year when a version is released.
- */
-#if __INTEL_LLVM_COMPILER < 1000000L
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
-#else
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
-# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
-#endif
-#if defined(_MSC_VER)
-  /* _MSC_VER = VVRR */
-# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-#endif
-#if defined(__GNUC__)
-# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
-#elif defined(__GNUG__)
-# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
-#endif
-#if defined(__GNUC_MINOR__)
-# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
-#endif
-#if defined(__GNUC_PATCHLEVEL__)
-# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-#endif
-
-#elif defined(__PATHCC__)
-# define COMPILER_ID "PathScale"
-# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
-# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
-# if defined(__PATHCC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
-# endif
-
-#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
-# define COMPILER_ID "Embarcadero"
-# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
-# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
-# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
-
-#elif defined(__BORLANDC__)
-# define COMPILER_ID "Borland"
-  /* __BORLANDC__ = 0xVRR */
-# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
-# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
-
-#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
-# define COMPILER_ID "Watcom"
-   /* __WATCOMC__ = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
-# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
-# if (__WATCOMC__ % 10) > 0
-#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
-# endif
-
-#elif defined(__WATCOMC__)
-# define COMPILER_ID "OpenWatcom"
-   /* __WATCOMC__ = VVRP + 1100 */
-# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
-# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
-# if (__WATCOMC__ % 10) > 0
-#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
-# endif
-
-#elif defined(__SUNPRO_CC)
-# define COMPILER_ID "SunPro"
-# if __SUNPRO_CC >= 0x5100
-   /* __SUNPRO_CC = 0xVRRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# else
-   /* __SUNPRO_CC = 0xVRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# endif
-
-#elif defined(__HP_aCC)
-# define COMPILER_ID "HP"
-  /* __HP_aCC = VVRRPP */
-# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
-# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
-# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
-
-#elif defined(__DECCXX)
-# define COMPILER_ID "Compaq"
-  /* __DECCXX_VER = VVRRTPPPP */
-# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
-# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
-# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
-
-#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
-# define COMPILER_ID "zOS"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__open_xl__) && defined(__clang__)
-# define COMPILER_ID "IBMClang"
-# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
-# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
-# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
-# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
-
-
-#elif defined(__ibmxl__) && defined(__clang__)
-# define COMPILER_ID "XLClang"
-# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
-# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
-# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
-# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
-
-
-#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
-# define COMPILER_ID "XL"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
-# define COMPILER_ID "VisualAge"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__NVCOMPILER)
-# define COMPILER_ID "NVHPC"
-# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
-# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
-# if defined(__NVCOMPILER_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
-# endif
-
-#elif defined(__PGI)
-# define COMPILER_ID "PGI"
-# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
-# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
-# if defined(__PGIC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
-# endif
-
-#elif defined(_CRAYC)
-# define COMPILER_ID "Cray"
-# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
-# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
-
-#elif defined(__TI_COMPILER_VERSION__)
-# define COMPILER_ID "TI"
-  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
-# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
-# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
-# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
-
-#elif defined(__CLANG_FUJITSU)
-# define COMPILER_ID "FujitsuClang"
-# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
-# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
-# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
-# define COMPILER_VERSION_INTERNAL_STR __clang_version__
-
-
-#elif defined(__FUJITSU)
-# define COMPILER_ID "Fujitsu"
-# if defined(__FCC_version__)
-#   define COMPILER_VERSION __FCC_version__
-# elif defined(__FCC_major__)
-#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
-#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
-#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
-# endif
-# if defined(__fcc_version)
-#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
-# elif defined(__FCC_VERSION)
-#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
-# endif
-
-
-#elif defined(__ghs__)
-# define COMPILER_ID "GHS"
-/* __GHS_VERSION_NUMBER = VVVVRP */
-# ifdef __GHS_VERSION_NUMBER
-# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
-# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
-# endif
-
-#elif defined(__TASKING__)
-# define COMPILER_ID "Tasking"
-  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
-  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
-# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
-
-#elif defined(__SCO_VERSION__)
-# define COMPILER_ID "SCO"
-
-#elif defined(__ARMCC_VERSION) && !defined(__clang__)
-# define COMPILER_ID "ARMCC"
-#if __ARMCC_VERSION >= 1000000
-  /* __ARMCC_VERSION = VRRPPPP */
-  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
-  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
-  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
-#else
-  /* __ARMCC_VERSION = VRPPPP */
-  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
-  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
-  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
-#endif
-
-
-#elif defined(__clang__) && defined(__apple_build_version__)
-# define COMPILER_ID "AppleClang"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
-# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
-# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
-
-#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
-# define COMPILER_ID "ARMClang"
-  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
-  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
-  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
-# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
-
-#elif defined(__clang__)
-# define COMPILER_ID "Clang"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
-# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
-# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-
-#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
-# define COMPILER_ID "LCC"
-# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
-# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
-# if defined(__LCC_MINOR__)
-#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
-# endif
-# if defined(__GNUC__) && defined(__GNUC_MINOR__)
-#  define SIMULATE_ID "GNU"
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
-#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
-#  if defined(__GNUC_PATCHLEVEL__)
-#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-#  endif
-# endif
-
-#elif defined(__GNUC__) || defined(__GNUG__)
-# define COMPILER_ID "GNU"
-# if defined(__GNUC__)
-#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
-# else
-#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
-# endif
-# if defined(__GNUC_MINOR__)
-#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
-# if defined(__GNUC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(_MSC_VER)
-# define COMPILER_ID "MSVC"
-  /* _MSC_VER = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
-# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
-# if defined(_MSC_FULL_VER)
-#  if _MSC_VER >= 1400
-    /* _MSC_FULL_VER = VVRRPPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
-#  else
-    /* _MSC_FULL_VER = VVRRPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
-#  endif
-# endif
-# if defined(_MSC_BUILD)
-#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
-# endif
-
-#elif defined(_ADI_COMPILER)
-# define COMPILER_ID "ADSP"
-#if defined(__VERSIONNUM__)
-  /* __VERSIONNUM__ = 0xVVRRPPTT */
-#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
-#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
-#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
-#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
-#endif
-
-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
-# define COMPILER_ID "IAR"
-# if defined(__VER__) && defined(__ICCARM__)
-#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
-#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
-#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
-#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
-# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
-#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
-#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
-#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
-#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
-# endif
-
-
-/* These compilers are either not known or too old to define an
-  identification macro.  Try to identify the platform and guess that
-  it is the native compiler.  */
-#elif defined(__hpux) || defined(__hpua)
-# define COMPILER_ID "HP"
-
-#else /* unknown compiler */
-# define COMPILER_ID ""
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
-#ifdef SIMULATE_ID
-char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
-#endif
-
-#ifdef __QNXNTO__
-char const* qnxnto = "INFO" ":" "qnxnto[]";
-#endif
-
-#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
-char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
-#endif
-
-#define STRINGIFY_HELPER(X) #X
-#define STRINGIFY(X) STRINGIFY_HELPER(X)
-
-/* Identify known platforms by name.  */
-#if defined(__linux) || defined(__linux__) || defined(linux)
-# define PLATFORM_ID "Linux"
-
-#elif defined(__MSYS__)
-# define PLATFORM_ID "MSYS"
-
-#elif defined(__CYGWIN__)
-# define PLATFORM_ID "Cygwin"
-
-#elif defined(__MINGW32__)
-# define PLATFORM_ID "MinGW"
-
-#elif defined(__APPLE__)
-# define PLATFORM_ID "Darwin"
-
-#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
-# define PLATFORM_ID "Windows"
-
-#elif defined(__FreeBSD__) || defined(__FreeBSD)
-# define PLATFORM_ID "FreeBSD"
-
-#elif defined(__NetBSD__) || defined(__NetBSD)
-# define PLATFORM_ID "NetBSD"
-
-#elif defined(__OpenBSD__) || defined(__OPENBSD)
-# define PLATFORM_ID "OpenBSD"
-
-#elif defined(__sun) || defined(sun)
-# define PLATFORM_ID "SunOS"
-
-#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
-# define PLATFORM_ID "AIX"
-
-#elif defined(__hpux) || defined(__hpux__)
-# define PLATFORM_ID "HP-UX"
-
-#elif defined(__HAIKU__)
-# define PLATFORM_ID "Haiku"
-
-#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
-# define PLATFORM_ID "BeOS"
-
-#elif defined(__QNX__) || defined(__QNXNTO__)
-# define PLATFORM_ID "QNX"
-
-#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
-# define PLATFORM_ID "Tru64"
-
-#elif defined(__riscos) || defined(__riscos__)
-# define PLATFORM_ID "RISCos"
-
-#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
-# define PLATFORM_ID "SINIX"
-
-#elif defined(__UNIX_SV__)
-# define PLATFORM_ID "UNIX_SV"
-
-#elif defined(__bsdos__)
-# define PLATFORM_ID "BSDOS"
-
-#elif defined(_MPRAS) || defined(MPRAS)
-# define PLATFORM_ID "MP-RAS"
-
-#elif defined(__osf) || defined(__osf__)
-# define PLATFORM_ID "OSF1"
-
-#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
-# define PLATFORM_ID "SCO_SV"
-
-#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
-# define PLATFORM_ID "ULTRIX"
-
-#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
-# define PLATFORM_ID "Xenix"
-
-#elif defined(__WATCOMC__)
-# if defined(__LINUX__)
-#  define PLATFORM_ID "Linux"
-
-# elif defined(__DOS__)
-#  define PLATFORM_ID "DOS"
-
-# elif defined(__OS2__)
-#  define PLATFORM_ID "OS2"
-
-# elif defined(__WINDOWS__)
-#  define PLATFORM_ID "Windows3x"
-
-# elif defined(__VXWORKS__)
-#  define PLATFORM_ID "VxWorks"
-
-# else /* unknown platform */
-#  define PLATFORM_ID
-# endif
-
-#elif defined(__INTEGRITY)
-# if defined(INT_178B)
-#  define PLATFORM_ID "Integrity178"
-
-# else /* regular Integrity */
-#  define PLATFORM_ID "Integrity"
-# endif
-
-# elif defined(_ADI_COMPILER)
-#  define PLATFORM_ID "ADSP"
-
-#else /* unknown platform */
-# define PLATFORM_ID
-
-#endif
-
-/* For windows compilers MSVC and Intel we can determine
-   the architecture of the compiler being used.  This is because
-   the compilers do not have flags that can change the architecture,
-   but rather depend on which compiler is being used
-*/
-#if defined(_WIN32) && defined(_MSC_VER)
-# if defined(_M_IA64)
-#  define ARCHITECTURE_ID "IA64"
-
-# elif defined(_M_ARM64EC)
-#  define ARCHITECTURE_ID "ARM64EC"
-
-# elif defined(_M_X64) || defined(_M_AMD64)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# elif defined(_M_ARM64)
-#  define ARCHITECTURE_ID "ARM64"
-
-# elif defined(_M_ARM)
-#  if _M_ARM == 4
-#   define ARCHITECTURE_ID "ARMV4I"
-#  elif _M_ARM == 5
-#   define ARCHITECTURE_ID "ARMV5I"
-#  else
-#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
-#  endif
-
-# elif defined(_M_MIPS)
-#  define ARCHITECTURE_ID "MIPS"
-
-# elif defined(_M_SH)
-#  define ARCHITECTURE_ID "SHx"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__WATCOMC__)
-# if defined(_M_I86)
-#  define ARCHITECTURE_ID "I86"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
-# if defined(__ICCARM__)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(__ICCRX__)
-#  define ARCHITECTURE_ID "RX"
-
-# elif defined(__ICCRH850__)
-#  define ARCHITECTURE_ID "RH850"
-
-# elif defined(__ICCRL78__)
-#  define ARCHITECTURE_ID "RL78"
-
-# elif defined(__ICCRISCV__)
-#  define ARCHITECTURE_ID "RISCV"
-
-# elif defined(__ICCAVR__)
-#  define ARCHITECTURE_ID "AVR"
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deleted file mode 100644
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-// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
-
-// -- BEGIN LICENSE BLOCK ----------------------------------------------
-// Copyright 2020 FZI Forschungszentrum Informatik
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// -- END LICENSE BLOCK ------------------------------------------------
-
-//----------------------------------------------------------------------
-/*!\file
- *
- * \author  Felix Exner mauch@fzi.de
- * \date    2020-08-06
- *
- * Make sure to run this program from its source directory in order to find the
- * respective files.
- *
- */
-//----------------------------------------------------------------------
-
-#include <ur_client_library/comm/control_mode.h>
-#include <ur_client_library/types.h>
-#include <ur_client_library/ur/dashboard_client.h>
-#include <ur_client_library/ur/ur_driver.h>
-
-#include <iostream>
-#include <memory>
-
-using namespace urcl;
-
-// In a real-world example it would be better to get those values from command
-// line parameters / a better configuration system such as Boost.Program_options
-const std::string DEFAULT_ROBOT_IP = "192.168.1.102";
-const std::string SCRIPT_FILE = "resources/external_control.urscript";
-const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
-const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
-const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
-
-std::unique_ptr<UrDriver> g_my_driver;
-std::unique_ptr<DashboardClient> g_my_dashboard;
-vector6d_t g_joint_positions;
-vector6d_t g_joint_speeds;
-
-// We need a callback function to register. See UrDriver's parameters for
-// details.
-void handleRobotProgramState(bool program_running) {
-  // Print the text in green so we see it better
-  std::cout << "\033[1;32mProgram running: " << std::boolalpha
-            << program_running << "\033[0m\n"
-            << std::endl;
-}
-
-int main(int argc, char *argv[]) {
-  urcl::setLogLevel(urcl::LogLevel::INFO);
-  g_joint_speeds[0] = -0.1;
-  g_joint_speeds[1] = -0.1;
-  g_joint_speeds[2] = -0.1;
-  g_joint_speeds[3] = -0.1;
-  g_joint_speeds[4] = -0.1;
-  g_joint_speeds[5] = -0.1;
-
-  // Parse the ip arguments if given
-  std::string robot_ip = DEFAULT_ROBOT_IP;
-  if (argc > 1) {
-    robot_ip = std::string(argv[1]);
-  }
-
-  // Making the robot ready for the program by:
-  // Connect the the robot Dashboard
-  g_my_dashboard.reset(new DashboardClient(robot_ip));
-  if (!g_my_dashboard->connect()) {
-    URCL_LOG_ERROR("Could not connect to dashboard");
-    return 1;
-  }
-
-  // Stop program, if there is one running
-  if (!g_my_dashboard->commandStop()) {
-    URCL_LOG_ERROR("Could not send stop program command");
-    return 1;
-  }
-
-  // Power it off
-//  if (!g_my_dashboard->commandPowerOff()) {
-//    URCL_LOG_ERROR("Could not send Power off command");
-//    return 1;
-//  }
-
-  // Power it on
-//  if (!g_my_dashboard->commandPowerOn()) {
-//    URCL_LOG_ERROR("Could not send Power on command");
-//    return 1;
-//  }
-
-  // Release the brakes
-//  if (!g_my_dashboard->commandBrakeRelease()) {
-//    URCL_LOG_ERROR("Could not send BrakeRelease command");
-//    return 1;
-//  }
-
-  // Now the robot is ready to receive a program
-
-  std::unique_ptr<ToolCommSetup> tool_comm_setup;
-  const bool HEADLESS = true;
-  g_my_driver.reset(new UrDriver(robot_ip, SCRIPT_FILE, OUTPUT_RECIPE,
-                                 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.
-
-  g_my_driver->startRTDECommunication();
-
-  double increment = 0.01;
-
-  bool passed_slow_part = false;
-  bool passed_fast_part = false;
-  URCL_LOG_INFO("Start moving the robot");
-  while (!(passed_slow_part && passed_fast_part)) {
-    // Read latest RTDE package. This will block for a hard-coded timeout (see
-    // UrDriver), so the robot will effectively be in charge of setting the
-    // frequency of this loop. In a real-world application this thread should be
-    // scheduled with real-time priority in order to ensure that this is called
-    // in time.
-    std::unique_ptr<rtde_interface::DataPackage> data_pkg =
-        g_my_driver->getDataPackage();
-    if (data_pkg) {
-      // Read current joint positions from robot data
-      if (!data_pkg->getData("actual_q", g_joint_positions)) {
-        // This throwing should never happen unless misconfigured
-        std::string error_msg = "Did not find 'actual_q' in data sent from "
-                                "robot. This should not happen!";
-        throw std::runtime_error(error_msg);
-      }
-
-      // Simple motion command of last joint
-      if (g_joint_positions[5] > 3) {
-        passed_fast_part = increment > 0.01 || passed_fast_part;
-        increment = -3; // this large jump will activate speed scaling
-      } else if (g_joint_positions[5] < -3) {
-        passed_slow_part = increment < 0.01 || passed_slow_part;
-        increment = 0.02;
-      }
-      g_joint_positions[0] += increment;
-      g_joint_positions[1] += increment;
-      g_joint_positions[2] += increment;
-      g_joint_positions[3] += increment;
-      g_joint_positions[4] += increment;
-      g_joint_positions[5] += increment;
-      // Setting the RobotReceiveTimeout time is for example purposes only. This
-      // will make the example running more reliable on non-realtime systems.
-      // Use with caution in productive applications.
-//      bool ret = g_my_driver->writeJointCommand(
-//          g_joint_positions, comm::ControlMode::MODE_SERVOJ,
-//          RobotReceiveTimeout::millisec(100));
-      bool ret = g_my_driver->writeJointCommand(
-          g_joint_speeds, comm::ControlMode::MODE_SPEEDJ,
-          RobotReceiveTimeout::millisec(100));
-	  std::cout << "send a " << g_joint_positions[0] << " to the joint 0" << std::endl;
-      if (!ret) {
-        URCL_LOG_ERROR(
-            "Could not send joint command. Is the robot in remote control?");
-        return 1;
-      }
-      URCL_LOG_DEBUG("data_pkg:\n%s", data_pkg->toString());
-    } else {
-      URCL_LOG_WARN("Could not get fresh data package from robot");
-    }
-  }
-  g_my_driver->stopControl();
-  URCL_LOG_INFO("Movement done");
-  return 0;
-}
diff --git a/basic_ur_rtde_usage/resources/rtde_input_recipe.txt b/basic_ur_rtde_usage/resources/rtde_input_recipe.txt
deleted file mode 100644
index c00dc059dfebdf13f1bb5f2edb90ad033854d9b3..0000000000000000000000000000000000000000
--- a/basic_ur_rtde_usage/resources/rtde_input_recipe.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-speed_slider_mask
-speed_slider_fraction
-standard_digital_output_mask
-standard_digital_output
-configurable_digital_output_mask
-configurable_digital_output
-tool_digital_output_mask
-tool_digital_output
-standard_analog_output_mask
-standard_analog_output_type
-standard_analog_output_0
-standard_analog_output_1
diff --git a/basic_ur_rtde_usage/resources/rtde_output_recipe.txt b/basic_ur_rtde_usage/resources/rtde_output_recipe.txt
deleted file mode 100644
index d96e66be80c6f01e2ec574fb81ffa278fec246d2..0000000000000000000000000000000000000000
--- a/basic_ur_rtde_usage/resources/rtde_output_recipe.txt
+++ /dev/null
@@ -1,28 +0,0 @@
-timestamp
-actual_q
-actual_qd
-speed_scaling
-target_speed_fraction
-runtime_state
-actual_TCP_force
-actual_TCP_pose
-actual_digital_input_bits
-actual_digital_output_bits
-standard_analog_input0
-standard_analog_input1
-standard_analog_output0
-standard_analog_output1
-analog_io_types
-tool_mode
-tool_analog_input_types
-tool_analog_input0
-tool_analog_input1
-tool_output_voltage
-tool_output_current
-tool_temperature
-robot_mode
-safety_mode
-robot_status_bits
-safety_status_bits
-actual_current
-tcp_offset
diff --git a/basic_ur_rtde_usage/rtde_client.cpp b/basic_ur_rtde_usage/rtde_client.cpp
deleted file mode 100644
index 0e7f73884aae8a202063272b8f20da0f7d83b1cd..0000000000000000000000000000000000000000
--- a/basic_ur_rtde_usage/rtde_client.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
-
-// -- BEGIN LICENSE BLOCK ----------------------------------------------
-// Copyright 2020 FZI Forschungszentrum Informatik
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-// -- END LICENSE BLOCK ------------------------------------------------
-
-//----------------------------------------------------------------------
-/*!\file
- *
- * \author  Felix Exner mauch@fzi.de
- * \date    2020-08-12
- *
- */
-//----------------------------------------------------------------------
-
-#include <ur_client_library/rtde/rtde_client.h>
-
-#include <ctime>
-#include <iostream>
-#include <memory>
-
-using namespace urcl;
-
-// In a real-world example it would be better to get those values from command
-// line parameters / a better configuration system such as Boost.Program_options
-const std::string DEFAULT_ROBOT_IP = "192.168.1.102";
-const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
-const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
-const std::chrono::milliseconds READ_TIMEOUT{100};
-
-int main(int argc, char *argv[]) {
-  // Parse the ip arguments if given
-  std::string robot_ip = DEFAULT_ROBOT_IP;
-  if (argc > 1) {
-    robot_ip = std::string(argv[1]);
-  }
-
-  // Parse how may seconds to run
-  int second_to_run = -1;
-  if (argc > 2) {
-    second_to_run = std::stoi(argv[2]);
-  }
-
-  // TODO: Write good docstring for notifier
-  comm::INotifier notifier;
-  rtde_interface::RTDEClient my_client(robot_ip, notifier, OUTPUT_RECIPE,
-                                       INPUT_RECIPE);
-  my_client.init();
-
-  // We will use the speed_slider_fraction as an example how to write to RTDE
-  double speed_slider_fraction = 1.0;
-  double speed_slider_increment = 0.01;
-
-  // 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.
-  my_client.start();
-
-  unsigned long startTime = clock();
-  while (second_to_run < 0 || ((clock() - startTime) / CLOCKS_PER_SEC) <
-                                  static_cast<unsigned int>(second_to_run)) {
-    // Read latest RTDE package. This will block for READ_TIMEOUT, so the
-    // robot will effectively be in charge of setting the frequency of this loop
-    // unless RTDE communication doesn't work in which case the user will be
-    // notified. In a real-world application this thread should be scheduled
-    // with real-time priority in order to ensure that this is called in time.
-    std::unique_ptr<rtde_interface::DataPackage> data_pkg =
-        my_client.getDataPackage(READ_TIMEOUT);
-    if (data_pkg) {
-      std::cout << data_pkg->toString() << std::endl;
-    } else {
-      std::cout << "Could not get fresh data package from robot" << std::endl;
-      return 1;
-    }
-
-    if (!my_client.getWriter().sendSpeedSlider(speed_slider_fraction)) {
-      // This will happen for example, when the required keys are not configured
-      // inside the input recipe.
-      std::cout << "\033[1;31mSending RTDE data failed."
-                << "\033[0m\n"
-                << std::endl;
-      return 1;
-    }
-
-    // Change the speed slider so that it will move between 0 and 1 all the
-    // time. This is for demonstration purposes only and gains no real value.
-    if (speed_slider_increment > 0) {
-      if (speed_slider_fraction + speed_slider_increment > 1.0) {
-        speed_slider_increment *= -1;
-      }
-    } else if (speed_slider_fraction + speed_slider_increment < 0.0) {
-      speed_slider_increment *= -1;
-    }
-    speed_slider_fraction += speed_slider_increment;
-  }
-
-  // Resetting the speedslider back to 100%
-  my_client.getWriter().sendSpeedSlider(1);
-
-  return 0;
-}
diff --git a/basic_ur_rtde_usage/spline_example.cpp b/basic_ur_rtde_usage/spline_example.cpp
deleted file mode 100644
index 47c3f2c81228292c890f350aca7643f472ffef76..0000000000000000000000000000000000000000
--- a/basic_ur_rtde_usage/spline_example.cpp
+++ /dev/null
@@ -1,316 +0,0 @@
-// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
-
-// -- BEGIN LICENSE BLOCK ----------------------------------------------
-// Copyright 2023 Universal Robots A/S
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-// -- END LICENSE BLOCK ------------------------------------------------
-
-#include <ur_client_library/control/trajectory_point_interface.h>
-#include <ur_client_library/ur/dashboard_client.h>
-#include <ur_client_library/ur/ur_driver.h>
-#include <ur_client_library/types.h>
-
-#include <iostream>
-#include <memory>
-
-using namespace urcl;
-
-// In a real-world example it would be better to get those values from command line parameters / a
-// better configuration system such as Boost.Program_options
-const std::string DEFAULT_ROBOT_IP = "192.168.1.102";
-const std::string SCRIPT_FILE = "resources/external_control.urscript";
-const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt";
-const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt";
-const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
-
-std::unique_ptr<UrDriver> g_my_driver;
-std::unique_ptr<DashboardClient> g_my_dashboard;
-vector6d_t g_joint_positions;
-
-void SendTrajectory(const std::vector<vector6d_t>& p_p, const std::vector<vector6d_t>& p_v,
-                    const std::vector<vector6d_t>& p_a, const std::vector<double>& time, bool use_spline_interpolation_)
-{
-  assert(p_p.size() == time.size());
-
-  URCL_LOG_INFO("Starting joint-based trajectory forward");
-  g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, p_p.size());
-
-  for (size_t i = 0; i < p_p.size() && p_p.size() == time.size() && p_p[i].size() == 6; i++)
-  {
-    // MoveJ
-    if (!use_spline_interpolation_)
-    {
-      g_my_driver->writeTrajectoryPoint(p_p[i], false, time[i]);
-    }
-    else  // Use spline interpolation
-    {
-      // QUINTIC
-      if (p_v.size() == time.size() && p_a.size() == time.size() && p_v[i].size() == 6 && p_a[i].size() == 6)
-      {
-        g_my_driver->writeTrajectorySplinePoint(p_p[i], p_v[i], p_a[i], time[i]);
-      }
-      // CUBIC
-      else if (p_v.size() == time.size() && p_v[i].size() == 6)
-      {
-        g_my_driver->writeTrajectorySplinePoint(p_p[i], p_v[i], time[i]);
-      }
-      else
-      {
-        g_my_driver->writeTrajectorySplinePoint(p_p[i], time[i]);
-      }
-    }
-  }
-  URCL_LOG_INFO("Finished Sending Trajectory");
-}
-
-// We need a callback function to register. See UrDriver's parameters for details.
-void handleRobotProgramState(bool program_running)
-{
-  // Print the text in green so we see it better
-  std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
-}
-
-// Callback function for trajectory execution.
-bool g_trajectory_running(false);
-void handleTrajectoryState(control::TrajectoryResult state)
-{
-  // trajectory_state = state;
-  g_trajectory_running = false;
-  std::string report = "?";
-  switch (state)
-  {
-    case control::TrajectoryResult::TRAJECTORY_RESULT_SUCCESS:
-      report = "success";
-      break;
-    case control::TrajectoryResult::TRAJECTORY_RESULT_CANCELED:
-      report = "canceled";
-      break;
-    case control::TrajectoryResult::TRAJECTORY_RESULT_FAILURE:
-    default:
-      report = "failure";
-      break;
-  }
-  std::cout << "\033[1;32mTrajectory report: " << report << "\033[0m\n" << std::endl;
-}
-
-int main(int argc, char* argv[])
-{
-  urcl::setLogLevel(urcl::LogLevel::INFO);
-
-  // Parse the ip arguments if given
-  std::string robot_ip = DEFAULT_ROBOT_IP;
-  if (argc > 1)
-  {
-    robot_ip = std::string(argv[1]);
-  }
-
-  // Making the robot ready for the program by:
-  // Connect the the robot Dashboard
-  g_my_dashboard.reset(new DashboardClient(robot_ip));
-  if (!g_my_dashboard->connect())
-  {
-    URCL_LOG_ERROR("Could not connect to dashboard");
-    return 1;
-  }
-
-  // Stop program, if there is one running
-  if (!g_my_dashboard->commandStop())
-  {
-    URCL_LOG_ERROR("Could not send stop program command");
-    return 1;
-  }
-
-  // if the robot is not powered on and ready
-  std::string robotModeRunning("RUNNING");
-  while (!g_my_dashboard->commandRobotMode(robotModeRunning))
-  {
-    // Power it off
-    if (!g_my_dashboard->commandPowerOff())
-    {
-      URCL_LOG_ERROR("Could not send Power off command");
-      return 1;
-    }
-
-    // Power it on
-    if (!g_my_dashboard->commandPowerOn())
-    {
-      URCL_LOG_ERROR("Could not send Power on command");
-      return 1;
-    }
-  }
-
-  // Release the brakes
-  if (!g_my_dashboard->commandBrakeRelease())
-  {
-    URCL_LOG_ERROR("Could not send BrakeRelease command");
-    return 1;
-  }
-
-  // Now the robot is ready to receive a program
-
-  std::unique_ptr<ToolCommSetup> tool_comm_setup;
-  const bool HEADLESS = true;
-  g_my_driver.reset(new UrDriver(robot_ip, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE, &handleRobotProgramState, HEADLESS,
-                                 std::move(tool_comm_setup), CALIBRATION_CHECKSUM));
-
-  g_my_driver->registerTrajectoryDoneCallback(&handleTrajectoryState);
-
-  // Once RTDE communication is started, we have to make sure to read from the interface buffer, as
-  // otherwise we will get pipeline overflows. Therefore, do this directly before starting your main
-  // loop.
-
-  g_my_driver->startRTDECommunication();
-
-  std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_driver->getDataPackage();
-
-  if (data_pkg)
-  {
-    // Read current joint positions from robot data
-    if (!data_pkg->getData("actual_q", g_joint_positions))
-    {
-      // This throwing should never happen unless misconfigured
-      std::string error_msg = "Did not find 'actual_q' in data sent from robot. This should not happen!";
-      throw std::runtime_error(error_msg);
-    }
-  }
-
-  const unsigned number_of_points = 5;
-  const double s_pos[number_of_points] = { 4.15364583e-03, 4.15364583e-03, -1.74088542e-02, 1.44817708e-02, 0.0 };
-  const double s_vel[number_of_points] = { -2.01015625e-01, 4.82031250e-02, 1.72812500e-01, -3.49453125e-01,
-                                           8.50000000e-02 };
-  const double s_acc[number_of_points] = { 2.55885417e+00, -4.97395833e-01, 1.71276042e+00, -5.36458333e-02,
-                                           -2.69817708e+00 };
-  const double s_time[number_of_points] = { 1.0000000e+00, 4.00000000e+00, 8.00100000e+00, 1.25000000e+01,
-                                            4.00000000e+00 };
-
-  bool ret = false;
-  ret = g_my_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
-  if (!ret)
-  {
-    std::stringstream lastq;
-    lastq << g_joint_positions;
-    URCL_LOG_ERROR("Could not send joint command. Last q received is %s\n Is the robot in remote control?",
-                   lastq.str().c_str());
-    return 1;
-  }
-
-  std::vector<vector6d_t> p, v, a;
-  std::vector<double> time;
-
-  unsigned int joint_to_control = 5;
-  for (unsigned i = 0; i < number_of_points; ++i)
-  {
-    vector6d_t p_i = g_joint_positions;
-    p_i[joint_to_control] = s_pos[i];
-    p.push_back(p_i);
-
-    vector6d_t v_i = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
-    v_i[joint_to_control] = s_vel[i];
-    v.push_back(v_i);
-
-    vector6d_t a_i = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
-    a_i[joint_to_control] = s_acc[i];
-    a.push_back(a_i);
-
-    time.push_back(s_time[i]);
-  }
-
-  // CUBIC
-  SendTrajectory(p, v, std::vector<vector6d_t>(), time, true);
-
-  g_trajectory_running = true;
-  while (g_trajectory_running)
-  {
-    std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_driver->getDataPackage();
-    if (data_pkg)
-    {
-      // Read current joint positions from robot data
-      if (!data_pkg->getData("actual_q", g_joint_positions))
-      {
-        // This throwing should never happen unless misconfigured
-        std::string error_msg = "Did not find 'actual_q' in data sent from robot. This should not happen!";
-        throw std::runtime_error(error_msg);
-      }
-      ret = g_my_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
-
-      if (!ret)
-      {
-        std::stringstream lastq;
-        lastq << g_joint_positions;
-        URCL_LOG_ERROR("Could not send joint command. Last q received is %s\n Is the robot in remote control?",
-                       lastq.str().c_str());
-        return 1;
-      }
-    }
-  }
-
-  URCL_LOG_INFO("CUBIC Movement done");
-
-  // QUINTIC
-  SendTrajectory(p, v, a, time, true);
-
-  g_trajectory_running = true;
-  while (g_trajectory_running)
-  {
-    std::unique_ptr<rtde_interface::DataPackage> data_pkg = g_my_driver->getDataPackage();
-    if (data_pkg)
-    {
-      // Read current joint positions from robot data
-      if (!data_pkg->getData("actual_q", g_joint_positions))
-      {
-        // This throwing should never happen unless misconfigured
-        std::string error_msg = "Did not find 'actual_q' in data sent from robot. This should not happen!";
-        throw std::runtime_error(error_msg);
-      }
-      ret = g_my_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
-
-      if (!ret)
-      {
-        std::stringstream lastq;
-        lastq << g_joint_positions;
-        URCL_LOG_ERROR("Could not send joint command. Last q received is %s\n Is the robot in remote control?",
-                       lastq.str().c_str());
-        return 1;
-      }
-    }
-  }
-
-  URCL_LOG_INFO("QUINTIC Movement done");
-
-  ret = g_my_driver->writeTrajectoryControlMessage(control::TrajectoryControlMessage::TRAJECTORY_NOOP);
-  if (!ret)
-  {
-    std::stringstream lastq;
-    lastq << g_joint_positions;
-    URCL_LOG_ERROR("Could not send joint command. Last q received is %s\n Is the robot in remote control?",
-                   lastq.str().c_str());
-    return 1;
-  }
-  g_my_driver->stopControl();
-  return 0;
-}
diff --git a/clik/CMakeLists.txt b/clik/CMakeLists.txt
index e3311f42a6d89188b7e1f563fc94130b88a284e3..0c90a3d0846feeebad806f48e8544de418104e0c 100644
--- a/clik/CMakeLists.txt
+++ b/clik/CMakeLists.txt
@@ -8,8 +8,8 @@ set ( CMAKE_EXPORT_COMPILE_COMMANDS ON )
 
 # TODO put this in
 #set(PROJECT_URL https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME})
-# TODO try doing it with 14 pls
-set(CMAKE_CXX_STANDARD 14)
+# std=c++17 so that i can use std::filesystem, but otherwise min is 11
+set(CMAKE_CXX_STANDARD 17)
 
 
 # Build a static binary.
@@ -22,6 +22,8 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
     -fstack-protector \
     -fomit-frame-pointer \
     -pipe \
+	-g \
+	-std=c++17 \
     -pedantic -pedantic-errors \
     -Werror \
     -Weffc++ \
diff --git a/clik/build/CMakeCache.txt b/clik/build/CMakeCache.txt
deleted file mode 100644
index a115ec66470b39dff0a8984d563c01bbae9d6fb9..0000000000000000000000000000000000000000
--- a/clik/build/CMakeCache.txt
+++ /dev/null
@@ -1,606 +0,0 @@
-# This is the CMakeCache file.
-# For build in directory: /home/gospodar/lund/praxis/ur_simple_control/clik/build
-# It was generated by CMake: /home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake
-# You can edit this file to change values found and used by cmake.
-# If you do not want to change any of the values, simply exit the editor.
-# If you do want to change a value, simply edit, save, and exit the editor.
-# The syntax for the file is as follows:
-# KEY:TYPE=VALUE
-# KEY is the name of a variable in the cache.
-# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
-# VALUE is the current value for the KEY.
-
-########################
-# EXTERNAL cache entries
-########################
-
-//Boost chrono library (debug)
-Boost_CHRONO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so
-
-//Boost chrono library (release)
-Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so
-
-//The directory containing a CMake configuration file for Boost.
-Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0
-
-//Boost filesystem library (debug)
-Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
-
-//Boost filesystem library (release)
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  /usr/local/include/ur_rtde/rtde_utility.h \
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  /usr/local/include/ur_rtde/rtde_receive_interface.h \
- /usr/local/include/ur_rtde/robot_state.h
+ /usr/local/include/ur_rtde/robot_state.h /usr/include/c++/11/filesystem \
+ /usr/include/c++/11/bits/fs_fwd.h /usr/include/c++/11/bits/fs_path.h \
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diff --git a/clik/build/clik b/clik/build/clik
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-{
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diff --git a/clik/clik.py b/clik/clik.py
new file mode 100644
index 0000000000000000000000000000000000000000..db6a67ceab07ad8e3c7ff50f1fd4e82dc8c8c5a4
--- /dev/null
+++ b/clik/clik.py
@@ -0,0 +1,87 @@
+import pinocchio as pin
+import numpy as np
+import sys
+import os
+from os.path import dirname, join, abspath
+import time
+from pinocchio.visualize import GepettoVisualizer
+import gepetto.corbaserver
+from rtde_control import RTDEControlInterface as RTDEControl
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+import os
+
+
+SIMULATION = True
+
+#gepetto.corbaserver.start_server()
+#time.sleep(3)
+
+urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+print(mesh_dir_absolute)
+model = pin.buildModelFromUrdf(urdf_path_absolute)
+#data = pin.Data(model)
+
+#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute)
+#visual_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL)
+#collision_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION)
+data = pin.Data(model)
+#viz = GepettoVisualizer(model, collision_model, visual_model)
+#viz.initViewer()
+#viz.loadViewerModel()
+
+q0 = pin.neutral(model)
+#viz.display(q0)
+
+
+if not SIMULATION: 
+    rtde_control = RTDEControl("192.168.1.102")
+    rtde_receive = RTDEReceive("192.168.1.102")
+
+    q = rtde_receive.getActualQ()[0]
+else:
+    q = pin.neutral(model)
+
+
+Mgoal = pin.SE3(np.eye(3), np.array([0.5, 0.3, 0.5]))
+eps = 1e-4
+IT_MAX = 10000000
+DT = 1e-3
+damp = 1e-6
+
+success = False
+JOINT_ID = 8
+for i in range(IT_MAX): 
+    if not SIMULATION:
+        q = rtde_receive.getActualQ()[0]
+    pin.forwardKinematics(model, data, q)
+    iMd = data.oMi[JOINT_ID].actInv(Mgoal)
+    err = pin.log6(iMd).vector 
+    if np.linalg.norm(err) < eps:
+      success = True
+      print("reached destionation")
+      break
+    if i >= IT_MAX: 
+        success = false
+        print("FAIL: did not succed in IT_MAX iterations")
+        break
+    J = pin.computeJointJacobian(model, data, q, JOINT_ID)
+    J = J + np.eye(J.shape[0], J.shape[1]) * 10**-4
+    v = np.matmul(np.linalg.pinv(J), pin.log(Mtool.inverse() * Mgoal).vector)
+    if not SIMULATION:
+      rtde_control.speedJ(v, 0.1, 1.0 / 500)
+    else:
+      q = pin.integrate(model, q, v * DT)
+    if not i % 10:
+        print(" error = ", err.transpose())
+        print("pos", data.oMi[JOINT_ID])
+
+if success: 
+    print("Convergence achieved!")
+else:
+    print("Warning: the iterative algorithm has not reached convergence to the desired precision")
+
+print("final error", err.transpose()) 
+
diff --git a/clik/src/clik.cpp b/clik/src/clik.cpp
index 7d1db873676c881738a959d8165062cc7acb37ec..0068e96e4a44f5c0a46f04e2052b3a83b6ee041c 100644
--- a/clik/src/clik.cpp
+++ b/clik/src/clik.cpp
@@ -6,6 +6,8 @@
 #include "pinocchio/spatial/explog.hpp"
 #include <Eigen/src/Core/Matrix.h>
 #include <fstream>
+#include <iostream>
+#include <ostream>
 #include <pinocchio/multibody/fcl.hpp>
 #include <pinocchio/multibody/fwd.hpp>
 
@@ -13,65 +15,106 @@
 
 #include <pinocchio/multibody/geometry.hpp>
 #include <pinocchio/spatial/spatial-axis.hpp>
+
+#include <ur_rtde/robotiq_gripper.h>
 #include <ur_rtde/rtde_control_interface.h>
 #include <ur_rtde/rtde_receive_interface.h>
 
-// so that i can get my unique pointer
-#include <memory> 
+#include <filesystem>
+#include <memory>
 
-#define SIMULATION true
+//#define SIMULATION true
+#define SIMULATION false
+#define NJOINTS 6
+#define PINOCCHIO_ONLY false
 
 int main(void) {
   // load robot model from urdf (most common type of robot description file)
   const std::string urdf_filename =
-      //std::string("/home/gospodar/lund/praxis/ur_resources/"
-      //            "ur5e_with_robotiq_hande/urdf/ur5e_with_robotiq_hande.urdf");
-      std::string("/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/urdf/ur5e.urdf");
+      std::string("../../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf");
+  std::filesystem::path urdf_filename_absolute =
+      std::filesystem::absolute(urdf_filename);
   const std::string mesh_dir =
-      std::string("/home/gospodar/lund/praxis/ur_driver_humble_ws/src/Universal_Robots_ROS2_Description/meshes/ur5e/");
-//  FILE* urdf_file_stream = std::fopen(urdf_filename.c_str(), "r");
+      std::string("../../robot_descriptions/meshes/ur5e/");
+  std::filesystem::path mesh_dir_absolute = std::filesystem::absolute(mesh_dir);
+  // make that a pinocchio model ( this one is for kinematics and dynamics )
   pinocchio::Model model;
-  pinocchio::urdf::buildModel(urdf_filename, model);
+  pinocchio::urdf::buildModel(urdf_filename_absolute, model);
+  // pinocchio separates dynamic data like joint angles into a different class
+  // simply because it's better code design
   pinocchio::Data data(model);
 
-//  viewer stuff
-//  TODO will probably be wrapped in an if for whether you want it or not
+  // setting up the visualizer, gepetto in this case.
+  // pinocchio supports more of them,
+  // and of course various simulators can be plugged in here with some
+  // additional similar-looking boilerplate code
   pinocchio::GeometryModel visual_model;
-  pinocchio::urdf::buildGeom(model, urdf_filename, pinocchio::GeometryType::VISUAL, visual_model, mesh_dir);
+  pinocchio::urdf::buildGeom(model, urdf_filename,
+                             pinocchio::GeometryType::VISUAL, visual_model,
+                             mesh_dir_absolute);
   pinocchio::GeometryModel collision_model;
-  pinocchio::urdf::buildGeom(model, urdf_filename, pinocchio::GeometryType::COLLISION, collision_model,  mesh_dir);
+  pinocchio::urdf::buildGeom(model, urdf_filename,
+                             pinocchio::GeometryType::COLLISION,
+                             collision_model, mesh_dir_absolute);
   pinocchio::gepetto::Viewer viewer(model, &visual_model, &collision_model);
   viewer.initViewer("pinocchio");
   viewer.loadViewerModel("ur5e");
-  viewer.addFrame(model.nframes -1);
-  //viewer.display(pinocchio::randomConfiguration(model));
-
-  //TODO add and compile the viewer so that it can be used here
+  // TODO: maybe some other frame is better
+  viewer.addFrame(model.nframes - 1);
 
   // need to make these pointers so that i can have the object
-  // without calling the constructor
-  // unique pointer as i would otherwise use these variables directly
+  // without calling the constructor.
+  // unique pointer as there will be only one instance of these
   std::unique_ptr<ur_rtde::RTDEControlInterface> rtde_control;
   std::unique_ptr<ur_rtde::RTDEReceiveInterface> rtde_receive;
-  if ( !SIMULATION) {
-    rtde_control = std::make_unique<ur_rtde::RTDEControlInterface>("192.168.1.102");
-    rtde_receive = std::make_unique<ur_rtde::RTDEReceiveInterface>("192.168.1.102");
+  // TODO finish adding the gripper
+  std::unique_ptr<ur_rtde::RobotiqGripper> gripper;
+  // the constructor exists if it can not connect
+  // the ip address is fixed on the robot (and has to be done on the client-side
+  // as well) so there's no need to find it otherwise
+  // TODO fix for pinocchio only runs
+  if (!SIMULATION) {
+    rtde_control =
+        std::make_unique<ur_rtde::RTDEControlInterface>("192.168.1.102");
+    rtde_receive =
+        std::make_unique<ur_rtde::RTDEReceiveInterface>("192.168.1.102");
+    gripper =
+        std::make_unique<ur_rtde::RobotiqGripper>("192.168.1.102", 63352, true);
+    gripper->connect();
+	std::cout << "gripper connected" <<std::endl;
+  } else {
+    rtde_control = std::make_unique<ur_rtde::RTDEControlInterface>("127.0.0.1");
+    rtde_receive = std::make_unique<ur_rtde::RTDEReceiveInterface>("127.0.0.1");
   }
 
-  std::vector<double> init_q;
+  // the urdf treats the gripper
+  // as 2 joints, but since the gripper does not change the position
+  // of the arm, we pad q to 8
   Eigen::VectorXd q(model.nq);
-  if (!SIMULATION) {
-    q = Eigen::Map<Eigen::VectorXd>(&rtde_receive->getActualQ()[0], model.nq);
+  std::vector<double> qs_from_message;
+  qs_from_message.reserve(8);
+  float gripper_current_position;
+  if (!PINOCCHIO_ONLY) {
+    qs_from_message = rtde_receive->getActualQ();
+    if (SIMULATION) {
+      qs_from_message.push_back(0.0);
+      qs_from_message.push_back(0.0);
+    } else {
+      gripper_current_position = gripper->getCurrentPosition();
+	  std::cout << "read position" <<std::endl;
+      qs_from_message.push_back((double)gripper_current_position);
+      qs_from_message.push_back((double)gripper_current_position);
+    }
+    q = Eigen::Map<Eigen::VectorXd>(&qs_from_message[0], model.nq);
+    qs_from_message.clear();
   } else {
     q = pinocchio::neutral(model);
   }
 
-  // oMdes is the desired pose
-  // const pinocchio::SE3 oMdes(Eigen::Matrix3d(1.0, 0.0, 0.0,
-  //  										 0.0, 1.0,
-  //  0.0, 										 0.0,
-  //  0.0, 1.0),
-  const pinocchio::SE3 oMdes(Eigen::Matrix3d::Zero(),
+  // Mgoal is the desired pose ( position + orientation ).
+  // making the rotation matrix 0s means we don't care about orientation
+  // ( but this just means we keep the current one due to the rest of the math)
+  const pinocchio::SE3 Mgoal(Eigen::Matrix3d::Zero(),
                              Eigen::Vector3d(0.5, 0.3, 0.5));
   const double eps = 1e-4;
   const int IT_MAX = 10000000;
@@ -79,27 +122,43 @@ int main(void) {
   const double damp = 1e-6;
 
   // define manipulator jacobian
-  // 6 is the velocity dimension: 3 linear, 3 angular directions
-  pinocchio::Data::Matrix6x J(6, model.nv);
+  // it's a m x n matrix, where n=6 in 3D (3 linear, 3 angular dimensions for
+  // velocity)
+  // pinocchio::Data::Matrix6x J(model.nq, model.nv);
+  pinocchio::Data::Matrix6x J(NJOINTS, model.nv);
   J.setZero();
 
   bool success = false;
   Eigen::Matrix<double, 6, 1> err;
   Eigen::VectorXd v(model.nv);
-  // TODO make casting cleaner somehow
   std::vector<double> v_as_std_vec;
   const int JOINT_ID = 6;
   for (int i = 0;; i++) {
-    if (!SIMULATION) {
-      q = Eigen::Map<Eigen::VectorXd>(&rtde_receive->getActualQ()[0], model.nq);
+    if (!PINOCCHIO_ONLY) {
+      qs_from_message = rtde_receive->getActualQ();
+      if (SIMULATION) {
+        qs_from_message.push_back(0.0);
+        qs_from_message.push_back(0.0);
+      } else {
+		// NOTE this is even used atm, it's just for checking the connection
+        gripper_current_position = gripper->getCurrentPosition();
+        qs_from_message.push_back((double)gripper_current_position);
+        qs_from_message.push_back((double)gripper_current_position);
+      }
+      q = Eigen::Map<Eigen::VectorXd>(&qs_from_message[0], model.nq);
+      qs_from_message.clear();
     }
     pinocchio::forwardKinematics(model, data, q);
-    // data.omi[joint_id] is the placement of joint_id
+    // data.omi[joint_id] is the placement of joint_id in the body frame
+    // NOTE: in pinocchio, everything is expressed in the body frame by default
     // se3.act is the group action,
     // se3.actinv is the inverse group action
-    // you need to check the actual math to see what and why is this here
-    const pinocchio::SE3 iMd = data.oMi[JOINT_ID].actInv(oMdes);
-    err = pinocchio::log6(iMd).toVector(); // in joint frame
+    // with this we get the action (rigid transform) from the current pose to
+    // the goal pose
+    const pinocchio::SE3 Mtool = data.oMi[JOINT_ID].actInv(Mgoal);
+    // now we turn that into a tangent vector (in the joint frame) via the log
+    // map
+    err = pinocchio::log6(Mtool).toVector();
     if (err.norm() < eps) {
       success = true;
       std::cout << "reached destionation" << std::endl;
@@ -110,36 +169,39 @@ int main(void) {
       std::cout << "FAIL: did not succed in IT_MAX iterations" << std::endl;
       break;
     }
-// J in joint frame
-    pinocchio::computeJointJacobian(model, data, q, JOINT_ID, J); 
+    pinocchio::computeJointJacobian(model, data, q, JOINT_ID, J);
     pinocchio::Data::Matrix6 Jlog;
-    pinocchio::Jlog6(iMd.inverse(), Jlog);
+    pinocchio::Jlog6(Mtool.inverse(), Jlog);
     J = -Jlog * J;
     pinocchio::Data::Matrix6 JJt;
     JJt.noalias() = J * J.transpose();
+    // TODO check if this actually changes the JJt diagonal (probably not)
     JJt.diagonal().array() += damp;
+    // using cholesky to get the inverse applied to err jointly,
+    // which is better complexity- and numerics-wise
     v.noalias() = -J.transpose() * JJt.ldlt().solve(err);
+    //    std::cout << v << std::endl;
     //    we're running it on the real system
-	if ( !SIMULATION) {
-    // TODO check that this works, otherwise fall back to uglier assignment
-      v_as_std_vec.assign(v.data(), v.data() + v.size());
-//      v_as_std_vec.push_back(v[0]);
-//      v_as_std_vec.push_back(v[1]);
-//      v_as_std_vec.push_back(v[2]);
-//      v_as_std_vec.push_back(v[3]);
-//      v_as_std_vec.push_back(v[4]);
-//      v_as_std_vec.push_back(v[5]);
-	  // TODO: play around with these values
+    if (!PINOCCHIO_ONLY) {
+      // TODO make this assignment work
+      //      v_as_std_vec.assign(v.data(), v.data() + v.size());
+      v_as_std_vec.push_back(v[0]);
+      v_as_std_vec.push_back(v[1]);
+      v_as_std_vec.push_back(v[2]);
+      v_as_std_vec.push_back(v[3]);
+      v_as_std_vec.push_back(v[4]);
+      v_as_std_vec.push_back(v[5]);
       rtde_control->speedJ(v_as_std_vec, 0.1, 1.0 / 500);
-//      v_as_std_vec.clear();
-	} else {
+      v_as_std_vec.clear();
+    } else {
       q = pinocchio::integrate(model, q, v * DT);
-	}
-	// TODO wrap this in an appropriate if
-	viewer.display(q);
-    if (!(i % 10))
+    }
+    // TODO wrap this in an appropriate if
+    viewer.display(q);
+    if (!(i % 10000)) {
       std::cout << i << ": error = " << err.transpose() << std::endl;
-    std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
+      std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
+    }
   }
 
   if (success) {
diff --git a/dmp/todos.md b/dmp/todos.md
new file mode 100644
index 0000000000000000000000000000000000000000..ec74f5a845c41a79b87614cf508e8e7400ab7a78
--- /dev/null
+++ b/dmp/todos.md
@@ -0,0 +1,12 @@
+# trajectory generation is in
+/home/gospodar/lund/praxis/UR traj gen
+and it's matlab
+
+# calculating the dmp from the trajectory
+is in 
+TC_DMP_constrainedVelAcc/something/DMP.m
+
+# running the dmp node
+TC_DMP_constrainedVelAcc/catkin_ws/src/motion_planning/nodes/dmp_node
+it's this file in the github repo
+
diff --git a/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_C.bin b/docs/.simulation.md.swp
old mode 100755
new mode 100644
similarity index 56%
rename from basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_C.bin
rename to docs/.simulation.md.swp
index 59672f58544a0d3fa118329bec892cc5d8608ac8..3c885c0abe3280b46fca4d555e69efa064e2a25c
Binary files a/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CMakeDetermineCompilerABI_C.bin and b/docs/.simulation.md.swp differ
diff --git a/ClientInterfaces_Primary.pdf b/docs/ClientInterfaces_Primary.pdf
similarity index 100%
rename from ClientInterfaces_Primary.pdf
rename to docs/ClientInterfaces_Primary.pdf
diff --git a/ClientInterfaces_Realtime.pdf b/docs/ClientInterfaces_Realtime.pdf
similarity index 100%
rename from ClientInterfaces_Realtime.pdf
rename to docs/ClientInterfaces_Realtime.pdf
diff --git a/Client_Interfaces_1.1.3.xlsx b/docs/Client_Interfaces_1.1.3.xlsx
similarity index 100%
rename from Client_Interfaces_1.1.3.xlsx
rename to docs/Client_Interfaces_1.1.3.xlsx
diff --git a/docs/gepetto.md b/docs/gepetto.md
index 85a2c6f277d5f2334ea1ed08f101110c6628b09d..db044a23225e77717a884be54610dc43c1b85202 100644
--- a/docs/gepetto.md
+++ b/docs/gepetto.md
@@ -1,7 +1,7 @@
 ## visualization with gepetto
 - https://github.com/Gepetto/gepetto-viewer is the link for more info
 - needs to be installed - just pip or apt gepetto-viewer or a similar name(s)
-- it needs to be ran with gepetto-gui - code api goes on existing instance
+- it needs to be ran with gepetto-gui before it can be called in code. 
 - for c++ api https://github.com/stack-of-tasks/pinocchio-gepetto-viewer needs to be installed.
   when compiling with cmake, you need to se the install prefix to /usr,
   i.e. do  cmake -DCMAKE_INSTALL_PREFIX=/usr when running cmake
diff --git a/docs/installing_ubuntu.md b/docs/installing_ubuntu.md
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a264605dbffa009e90ebe89215acdbcf0ffa2
--- /dev/null
+++ b/docs/installing_ubuntu.md
@@ -0,0 +1,15 @@
+## general ubuntu installation steps
+Install Ubuntu 22 LTS
+1. Either create a disk partition for Ubuntu on your hard drive, or use an external hard drive. In the first case, you might need to shrink your existing partition. Searching for "how to create a disk partition [your_OS]" or "install ubuntu on [your_OS]" will get you all the information you need. Ideally, back up your data before any of this (you should be doing this in general as it's good practice).
+2. Download an Ubuntu 22 LTH iso (file which contains everything needed for installation), available at official Ubuntu websites
+3. Create a bootable USB. In short, you can't just copy an iso file to a USB and boot from it. Just google how to do it on your OS.
+4. Enter BIOS to ensure you can boot from your USB. Ideally this step should just be to enable Boot menu, but this step is dependent to a specific computer. Any reasonable Ubuntu (or any Linux) installation guide should have detailed steps, but also consult your laptop manufacturer websites for BIOS steps if the steps won't be obvious/easy to follow.
+5. Boot from the Ubuntu USB and install it to the partition/external disk from step 1. MAKE SURE you are installing to the right partition. To select the partition, select the "Advanced installation" option (selecting the partition is the only advanced thing you need). Otherwise just follow the installation instructions you get once you boot into the USB, they are quite well done.
+
+## most basic CLI commands
+1. sudo - run the actual command after it as administrator (need to ex. install stuff)
+2. apt - this is Ubuntu's package manager. It allows you to install nearly everything you'll ever need and manages (nearly) all installed programs in general. Note: on Linux you go to your package manager to install most things, you very rarely need to go to websites and download things (apt does all of it for you from Ubuntu's servers)
+3. apt update - update your machine to programs (also called packages) from Ubuntu's serves
+4. apt install [package_name] - [installs package_name]
+5. ls - list stuff in a folder (also known as directory)
+6. cd - change directory (i.e. change folder). Sometimes you need to run commands from specific folders (you need to pass a file as input for example). It's like clicking on folders' icons, but in the terminal
diff --git a/docs/pinocchio.md b/docs/pinocchio.md
index fcc3e9985c6c322c379f03b6e4729d24f0ed3fa4..227f1de7ef03cf006f0ba67be88dbb6f9735e0a7 100644
--- a/docs/pinocchio.md
+++ b/docs/pinocchio.md
@@ -1,6 +1,15 @@
-# nice exercises
+# general documentation
+https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/index.html
+
+# installation procedure
+just follow the steps (copy-paste commands into terminal) listed here
+https://stack-of-tasks.github.io/pinocchio/download.html
+
+# nice exercises to get yourself familiarized
 https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_d-practical-exercises_intro.html
+pinocchio has functions with some advanced math, like Lie groups.
+while it's certainly a plus to learn them, you don't need to. you can just use the forward kinematics
+and calculating jacobian functions, and do ther rest of the math with eigen or numpy.
 
-# how to learn this?
-play around with it in ipython
---> TODO explain how you do this
+# how to learn how to use pinocchio?
+play around with it in ipython3 
diff --git a/docs/robotics_math.md b/docs/robotics_math.md
new file mode 100644
index 0000000000000000000000000000000000000000..85f6cd7ecc0fecbbae039fb05c04d0ea684727d8
--- /dev/null
+++ b/docs/robotics_math.md
@@ -0,0 +1,29 @@
+# general notes
+You do not need to know most topics in the books listed below, but it's good
+to have them as references and to look up the specific topics you are
+working with. We will rely on the Pinocchio library for robotics-related
+calculations like forward kinematics, and on Eigen or NumPy for
+general linear algebra operations. You really only need to 
+know homogenious transformations, and have a good idea of
+what the used equations mean (what are you calculating
+and from what).
+
+# classic approach
+probably the best reference textbook:
+Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo (auth.) - Robotics_ Modelling, Planning and Control.
+the only prerequisites are linear algebra, calculus and basic control (up to SISO PID control).
+If you took the Applied robotics course, this book builds on what has been laid out there.
+While easy to get started with, this approach may result in some cumbersome expressions.
+
+# Lie group approach
+The idea here is to treat rigid motions and transformations as (mathematical) groups.
+While it is certainly not necessary to use this approach,
+it sheds light on the expressions which appear in robotics, and results
+in a natural and intuitive framework.
+A modern, excellent take: Frank C. Park Kevin M. Lynch - Modern Robotics Mechanics, Planning, and Control.
+Everything is laid out and explained lucidly.
+A more technical take can be found in:
+A mathematical introduction to robotic manipulation - R. Murray, Z. Li, S. Sastry.
+While an excellent read for those who want to go deeper into the theory, it will
+most likely take a while to go through. 
+
diff --git a/docs/simulation.md b/docs/simulation.md
new file mode 100644
index 0000000000000000000000000000000000000000..615be6327e0b47e1655f9a956e69328556068bb3
--- /dev/null
+++ b/docs/simulation.md
@@ -0,0 +1,13 @@
+1. install docker (sudo apt-get install docker)
+2. have a look at docker documentation to have an idea of what it is and for any additional information 
+   as it's very well made
+3. navigate to the the simulation folder of this repo
+4. run "docker build -t myursim -f Dockerfile ." to crete the image
+5. to run the image, run "docker run --rm -it --net=host myursim" . the --rm flag removes the previous container,
+   -it attaches the terminal to the containter, and --net=host makes the image share the localhost
+   connection with your OS.
+6. go to http://127.0.1.1:6080/vnc.html?host=127.0.1.1&port=6080, go to the installation tab and change 
+   the settings (IP addresses) of the external_control urcap in the URCaps tab. change the Host IP to 
+   127.0.0.1 
+7. go to the program tab, and put external control as a part of the program (the only part after main)
+8. now run your program as if it was running on real hardware with a TODO being that there is no gripper in the simulation as of yet
diff --git a/docs/tex/general/main.aux b/docs/tex/general/main.aux
new file mode 100644
index 0000000000000000000000000000000000000000..f23e54680b733bda6c050da350d99bdea7fb9933
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diff --git a/docs/tex/general/main.pdf b/docs/tex/general/main.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..88192be1c477e4da510041fad8fa42af42b0b0f9
Binary files /dev/null and b/docs/tex/general/main.pdf differ
diff --git a/docs/tex/general/main.synctex.gz b/docs/tex/general/main.synctex.gz
new file mode 100644
index 0000000000000000000000000000000000000000..3b6a50e23e999f72f5cd7eb4d94ba45ce3c09c23
Binary files /dev/null and b/docs/tex/general/main.synctex.gz differ
diff --git a/docs/tex/general/main.tex b/docs/tex/general/main.tex
new file mode 100644
index 0000000000000000000000000000000000000000..180fb863ab35179c74817bbc815686825f686b53
--- /dev/null
+++ b/docs/tex/general/main.tex
@@ -0,0 +1,25 @@
+\documentclass{article}
+\usepackage{amsmath}
+\newcommand{\argmin}{\arg\!\min} 
+\newcommand{\argmax}{\arg\!\max} 
+\usepackage{amssymb}
+\usepackage{amsfonts}
+\usepackage[T1]{fontenc}
+\usepackage{bm}
+\usepackage{array}
+\usepackage{graphicx}
+\usepackage[utf8]{inputenc}
+
+\title{Using a robot from Universal Robots}
+\date{\today}
+\author{Marko Guberina}
+
+\begin{document}
+\pagenumbering{gobble}
+\maketitle
+\newpage
+\pagenumbering{arabic}
+
+
+
+\end{document}
diff --git a/initial_python_solution/main.py b/initial_python_solution/main.py
index ff53d75372fe3d9465146ac7d162ea8fc7664e8b..9a5c499a9765393f3d5bf1bcbdc86a1e3af666cd 100644
--- a/initial_python_solution/main.py
+++ b/initial_python_solution/main.py
@@ -24,7 +24,7 @@ ik_env.damping = 25
 ik_env.goal[0] = 0.21
 ik_env.goal[1] = 0.38
 ik_env.goal[2] = 0.5
-#ik_env.render()
+ik_env.render()
 
 
 ik_env.robot.setJoints(q)
@@ -43,7 +43,7 @@ while True:
     ik_env.robot.calcJacobian()
     q_dots = controller(ik_env.robot, ik_env.goal)
     thetas = np.array([joint.theta for joint in ik_env.robot.joints])
-#    ik_env.render()
+    ik_env.render()
     #print(ik_env.robot.p_e.copy())
     #print(ik_env.goal)
     distance = np.linalg.norm(ik_env.robot.p_e.copy() - ik_env.goal)
diff --git a/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CompilerIdCXX/a.out b/initial_python_solution/robot_stuff/.forw_kinm.py.swp
old mode 100755
new mode 100644
similarity index 55%
rename from basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CompilerIdCXX/a.out
rename to initial_python_solution/robot_stuff/.forw_kinm.py.swp
index 6f7591430982e78f058bf3d0fb3528e454cf27eb..54308cd4986776442849d527563602fa6a60b0e7
Binary files a/basic_ur_rtde_usage/build/CMakeFiles/3.27.4/CompilerIdCXX/a.out and b/initial_python_solution/robot_stuff/.forw_kinm.py.swp differ
diff --git a/robot_descriptions/ur5e_with_robotiq_hande.urdf b/robot_descriptions/ur5e_with_robotiq_hande.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4797efde06296f010e9a51f0e82c0c059bb49ca0
--- /dev/null
+++ b/robot_descriptions/ur5e_with_robotiq_hande.urdf
@@ -0,0 +1,575 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ur5e_with_robotiq_hande.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ur5e_with_robotiq_hande">
+  <!--   <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> -->
+  <!-- <robotNamespace>/</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+      <legacyModeNS>true</legacyModeNS> -->
+  <!--     </plugin>
+
+  </gazebo> -->
+  <!--
+  Author: Cristian C Beltran-Hernandez
+-->
+  <!-- Robotiq Coupler -->
+  <!--  + Height added by the coupler: 8mm -->
+  <!--  + Reference frame: at the middle (4mm) -->
+  <link name="robotiq_coupler">
+    <visual>
+      <geometry>
+			  <mesh filename="./robotiq_85_coupler.stl"/>
+      </geometry>
+      <material name="flat_black"/>
+    </visual>
+    <collision>
+      <geometry>
+			  <mesh filename="./robotiq_85_coupler.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.073e-05   1.45286e-03  -1.1049e-03"/>
+      <mass value="0.168"/>
+      <inertia ixx="6.69695624e-05" ixy="5.21511788e-09" ixz="-2.74383009e-08" iyy="7.85088161e-05" iyz="5.41105193e-07" izz="1.41819717e-04"/>
+    </inertial>
+  </link>
+  <joint name="robotiq_coupler_joint" type="fixed">
+    <origin rpy="0 0 -1.57079632679" xyz="0 0 0.004"/>
+    <parent link="tool0"/>
+    <child link="robotiq_coupler"/>
+  </joint>
+  <!-- <link name="gripper_root_link">
+    <visual>
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0.0 0.0 0.0" />
+      <inertia ixx = "0.000001" ixy = "0.000000" ixz = "0.000000"
+           iyx = "0.000000" iyy = "0.000001" iyz = "0.000000"
+           izx = "0.000000" izy = "0.000000" izz = "0.000001" />
+    </inertial>
+  </link>
+
+  <link name="world" />
+
+  <joint name="world_joint" type="fixed">
+    <parent link="world" />
+    <child link = "gripper_root_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint> -->
+  <!-- gripper -->
+  <!-- <xacro:robotiq_hande_gripper prefix="" parent="gripper_root_link" > -->
+  <!-- <xacro:robotiq_hande_gripper prefix="" parent="" > -->
+  <!-- <origin xyz="0.0 0 0.005" rpy="0 0 0"/> -->
+  <!-- </xacro:robotiq_hande_gripper> -->
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note: that .xacro must still be processed by the xacro command).
+
+    For use in '.launch' files: use one of the 'load_urX.launch' convenience
+    launch files.
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE: the default kinematic parameters (ie: link lengths, frame locations,
+    offets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (ie: robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targetted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs: Ludovic Delval.
+
+    Contributors to previous versions (in no particular order):
+
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE: the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+  <transmission name="shoulder_pan_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_pan_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="shoulder_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_lift_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="elbow_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="elbow_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="elbow_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_1_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_2_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_3_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- links: main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.138"/>
+      <geometry>
+        <mesh filename="./visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.138"/>
+      <geometry>
+        <mesh filename="./collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.57079632679 0" xyz="-0.2125 0.0 0.138"/>
+      <inertia ixx="0.133885781862" ixy="0.0" ixz="0.0" iyy="0.133885781862" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.007"/>
+      <geometry>
+        <mesh filename="./visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.007"/>
+      <geometry>
+        <mesh filename="./collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.57079632679 0" xyz="-0.1961 0.0 0.007"/>
+      <inertia ixx="0.0312093550996" ixy="0.0" ixz="0.0" iyy="0.0312093550996" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <!-- TODO: Move this to a parameter -->
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.127"/>
+      <geometry>
+        <mesh filename="./visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.127"/>
+      <geometry>
+        <mesh filename="./collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
+      <geometry>
+        <mesh filename="./visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
+      <geometry>
+        <mesh filename="./collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.0989"/>
+      <geometry>
+        <mesh filename="./visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.0989"/>
+      <geometry>
+        <mesh filename="./collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
+      <inertia ixx="9.89041005217e-05" ixy="0.0" ixz="0.0" iyy="9.89041005217e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints: main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1625"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.3922 0 0.1333"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.0448811823e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.57079632659 3.14159265359 3.14159265359" xyz="0 0.0996 -2.04283014801e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians: as base_link is REP-103
+           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.57079632679 -1.57079632679" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe: X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+  <joint name="robotiq_hande_base_joint" type="fixed">
+    <parent link="tool0"/>
+    <child link="hand_e_link"/>
+    <!-- <xacro:insert_block name="origin"/> -->
+  </joint>
+  <link name="hand_e_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04607"/>
+      <mass value="0.86387"/>
+      <inertia ixx="1017560E-9" ixy="0" ixz="2235E-9" iyy="1028041E-9" iyz="0" izz="489810E-9"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./visual/hand-e.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="Dark">
+        <color rgba=".1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./collision/hand-e-collision.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="hande_left_finger">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.02262 0.00759 0.00738"/>
+      <mass value="0.03804"/>
+      <inertia ixx="13567E-9" ixy="1849E-9" ixz="3622E-9" iyy="15784E-9" iyz="3616E-9" izz="7478E-9"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./visual/finger_1.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="DarkGray">
+        <color rgba=".4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./collision/finger_1-collision.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="hande_right_finger">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02262 -0.00759 0.00738"/>
+      <mass value="0.03804"/>
+      <inertia ixx="13567E-9" ixy="1849E-9" ixz="-3622E-9" iyy="15784E-9" iyz="-3616E-9" izz="7478E-9"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./visual/finger_2.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="DarkGray">
+        <color rgba=".4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+			  <mesh filename="./collision/finger_2-collision.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- <gazebo reference="${prefix}hand_e_link">
+      <material>Gazebo/FlatBlack</material>
+    </gazebo>
+    <gazebo reference="${prefix}hande_right_finger">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+    <gazebo reference="${prefix}hande_left_finger">
+      <material>Gazebo/Grey</material>
+    </gazebo> -->
+  <joint name="hande_left_finger_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0.099"/>
+    <parent link="hand_e_link"/>
+    <child link="hande_left_finger"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
+  </joint>
+  <joint name="hande_right_finger_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0.099"/>
+    <parent link="hand_e_link"/>
+    <child link="hande_right_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
+    <mimic joint="hande_left_finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <!-- Improve grasping physics -->
+  <gazebo reference="hande_left_finger">
+    <kp>1e8</kp>
+    <kd>1.0</kd>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <minDepth>0.001</minDepth>
+  </gazebo>
+  <gazebo reference="hande_right_finger">
+    <kp>1e8</kp>
+    <kd>1.0</kd>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <minDepth>0.001</minDepth>
+  </gazebo>
+  <transmission name="hande_left_finger_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="hande_left_finger_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="hande_left_finger_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- <transmission name="${prefix}hande_right_finger_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}hande_right_finger_joint">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}hande_right_finger_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission> -->
+  <!-- Mimic joints -->
+  <!-- <gazebo>
+      <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_hande">
+        <joint>${prefix}hande_left_finger_joint</joint>
+        <mimicJoint>${prefix}hande_right_finger_joint</mimicJoint>
+        <multiplier>1.0</multiplier>
+        <offset>0.0</offset>
+      </plugin>
+    </gazebo> -->
+  <!-- define the ur5e's position and orientation in the world coordinate system -->
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+    <!-- TODO: check base_link name of robot -->
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </joint>
+</robot>
diff --git a/ur5e_with_robotiq_hande.urdf b/robot_descriptions/ur5e_with_robotiq_hande_BAD_PATHS.urdf
similarity index 100%
rename from ur5e_with_robotiq_hande.urdf
rename to robot_descriptions/ur5e_with_robotiq_hande_BAD_PATHS.urdf
diff --git a/samplepy b/samplepy
new file mode 100644
index 0000000000000000000000000000000000000000..cd0f47fa1cb5772ed5e9e2e9de558b1d632017f6
--- /dev/null
+++ b/samplepy
@@ -0,0 +1,9 @@
+     ...: 
+
+In [221]: for i in range(10000):
+     ...:     pin.forwardKinematics(model, data, q)
+     ...:     J = pin.computeJointJacobian(model, data, q, 6)
+     ...:     J = J + np.eye(6) * 10**1
+     ...:     v = np.matmul(np.linalg.pinv(J), pin.log(Mtool.inverse() * Mgoal).vector)
+     ...:     q = pin.integrate(model, q, v * 0.001)
+     ...:     viz.display(q)
diff --git a/simulation/Dockerfile b/simulation/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..5680e307da7b58e199150427c556d25ea11304a3
--- /dev/null
+++ b/simulation/Dockerfile
@@ -0,0 +1,8 @@
+FROM universalrobots/ursim_e-series
+
+# Install the URCap
+COPY externalcontrol-1.0.5.urcap /urcaps/externalcontrol-1.0.5.jar
+
+
+# Install pre-made programs
+#COPY programs ursim/programs
diff --git a/basic_ur_rtde_usage/build/resources/external_control.urscript b/simulation/external_control.urscript
similarity index 100%
rename from basic_ur_rtde_usage/build/resources/external_control.urscript
rename to simulation/external_control.urscript
diff --git a/simulation/externalcontrol-1.0.5.jar b/simulation/externalcontrol-1.0.5.jar
new file mode 100644
index 0000000000000000000000000000000000000000..f0f6f7b9a16a4ce6e2e112da59d20752881e83d8
Binary files /dev/null and b/simulation/externalcontrol-1.0.5.jar differ
diff --git a/simulation/externalcontrol-1.0.5.urcap b/simulation/externalcontrol-1.0.5.urcap
new file mode 100644
index 0000000000000000000000000000000000000000..31908f34d7f13d8f9b20454cfad85aa91015c11a
Binary files /dev/null and b/simulation/externalcontrol-1.0.5.urcap differ
diff --git a/tests/publish_speedj.py b/tests/publish_speedj.py
deleted file mode 100644
index b8007604464b6420382e1492993c4a5d40e03cc1..0000000000000000000000000000000000000000
--- a/tests/publish_speedj.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import Float64MultiArray
-
-class SimplePublisher(Node):
-
-    def __init__(self):
-        super().__init__('simple_publisher')
-        #self.publisher_ = self.create_publisher(Float64MultiArray, '/forward_position_controller/commands', 10)
-        #self.publisher_ = self.create_publisher(Float64MultiArray, '/scaled_joint_trajectory_controller/joint_trajectory', 10)
-        self.publisher_ = self.create_publisher(Float64MultiArray, '/scaled_joint_trajectory_controller/state', 10)
-        timer_period = 1  # seconds (for 2 Hz)
-        self.timer = self.create_timer(timer_period, self.timer_callback)
-
-    def timer_callback(self):
-        msg = Float64MultiArray()
-        msg.data = [0.2, 0.0, 0.0, 0.0, 0.0, 0.0]
-        self.publisher_.publish(msg)
-        self.get_logger().info(f'Publishing: "{msg.data}"')
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = SimplePublisher()
-    rclpy.spin(node)
-    node.destroy_node()
-    rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()