diff --git a/Dockerfile b/Dockerfile
index 0581e6099baa22a0fba733b0a330b958f991b9f1..022449b531053fb0d7224ebbab325ced44d7c6d3 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -5,7 +5,19 @@ WORKDIR /usr/local/ur_simple_control
 COPY . .
 
 RUN apt update && apt upgrade
+RUN apt install -y python3  \
+                python3-pip
+
+# this is enough to run clik
+RUN pip install -e ./python/
+RUN pip install pin matplotlib meshcat ur_rtde \
+                qpsolvers ecos
 
 # open up meshcat ports
 # make this a range
+# TODO: figure out how to actually expose meshcat,
+# this isn't enough
 EXPOSE 7000
+
+# TODO: figure out what's needed to be able to open
+# matplotlib windows!
diff --git a/TODOS_2024_09_19 b/TODOS_2024_09_19
index 167f2975976cf9217b15cead536d754faa409dbe..fb31c5ed92545f687727df30b4eb83705e1061fa 100644
--- a/TODOS_2024_09_19
+++ b/TODOS_2024_09_19
@@ -21,7 +21,8 @@ goal 2: clean up the code
 1. do all reading and updating into the local class in the step() function --> remove the rest
 2. fix logging a bit (add a function which combines logs of different runs 
                       of a 'session' or at least names all logs in a run)
-3. stop asap
+3. stop doing minor bs asap
+4. merge to main
 
 then finish goal 2 by making the docs & tutorialss
 
diff --git a/docs/pinocchio.md b/docs/pinocchio.md
index ba316520506c3d2c7b10ce6964bbe069e347f06b..b7b26b241bb219ba40dc8405b1aa7f4bf56a1f84 100644
--- a/docs/pinocchio.md
+++ b/docs/pinocchio.md
@@ -14,3 +14,9 @@ and calculating jacobian functions, and do ther rest of the math with eigen or n
 # how to learn how to use pinocchio?
 follow exercises and tutorials from the pinocchio documentation webiste, play around with it in ipython3 (a nicer
 shell than plain python, install with sudo apt-get install ipython3)
+
+## NOTE
+--------
+if using own compilation of pinocchio, make sure you compile with mpi 
+and whatever else is needed to run algorithms in parallel.
+you won't be able to run in 500Hz otherwise