diff --git a/clik/.robotiq_gripper.py.swp b/clik/.robotiq_gripper.py.swp
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diff --git a/clik/build/compile_commands.json b/clik/build/compile_commands.json
new file mode 100644
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+  "file": "/home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
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diff --git a/clik/clik.py b/clik/clik.py
index db6a67ceab07ad8e3c7ff50f1fd4e82dc8c8c5a4..af7ab74dc953e77350d0cfa36e6ea515729cc71b 100644
--- a/clik/clik.py
+++ b/clik/clik.py
@@ -8,43 +8,61 @@ from pinocchio.visualize import GepettoVisualizer
 import gepetto.corbaserver
 from rtde_control import RTDEControlInterface as RTDEControl
 from rtde_receive import RTDEReceiveInterface as RTDEReceive
+from robotiq_gripper import RobotiqGripper
 import os
 
+#SIMULATION = True
+SIMULATION = False
+PINOCCHIO_ONLY = False
+# urdf treats gripper as two prismatic joints, but they do not affect the overall movement
+# of the robot, so we cut jacobian calculations at the 6th joint (which also doesn't move position-wise,
+# but it does change the orientation)
 
-SIMULATION = True
-
+# run visualizer from code (not working atm)
 #gepetto.corbaserver.start_server()
 #time.sleep(3)
 
+# load model
+# NOTE: this program needs to be either ran from this directory, or the paths need to be changed
+# paths as arguments will be added a bit later, it's not prio rn
 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)
+print(model)
+data = pin.Data(model)
+print(data)
 
+# can't get the urdf reading with these functions to save my life, idk what or why
 #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)
+#data = pin.Data(model)
 #viz = GepettoVisualizer(model, collision_model, visual_model)
 #viz.initViewer()
 #viz.loadViewerModel()
 
-q0 = pin.neutral(model)
+#load gripper
+gripper = RobotiqGripper()
+
 #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]
+    #NOTE: socket_timeout is the third argument, check what it does 
+    gripper.connect("192.168.1.102", 63352)
+    gripper.activate()
 else:
-    q = pin.neutral(model)
-
+    rtde_control = RTDEControl("127.0.0.1")
+    rtde_receive = RTDEReceive("127.0.0.1")
+    # this can't work until you put the gripper in the simulation
+    #gripper.connect("127.0.0.1", 63352)
 
+# define goal
 Mgoal = pin.SE3(np.eye(3), np.array([0.5, 0.3, 0.5]))
 eps = 1e-4
 IT_MAX = 10000000
@@ -52,14 +70,22 @@ DT = 1e-3
 damp = 1e-6
 
 success = False
-JOINT_ID = 8
+JOINT_ID = 6
 for i in range(IT_MAX): 
+    q = rtde_receive.getActualQ()
     if not SIMULATION:
-        q = rtde_receive.getActualQ()[0]
+        gripper_pos = gripper.get_current_position()
+        # just padding to fill q, which is only needed for forward kinematics
+        #q.append(gripper_pos)
+        #q.append(gripper_pos)
+        q.append(0.0)
+        q.append(0.0)
+        # pinocchio wants an ndarray
+        q = np.array(q)
     pin.forwardKinematics(model, data, q)
-    iMd = data.oMi[JOINT_ID].actInv(Mgoal)
-    err = pin.log6(iMd).vector 
-    if np.linalg.norm(err) < eps:
+    SEerror = data.oMi[JOINT_ID].actInv(Mgoal)
+    err_vector = pin.log6(SEerror).vector 
+    if np.linalg.norm(err_vector) < eps:
       success = True
       print("reached destionation")
       break
@@ -67,15 +93,17 @@ for i in range(IT_MAX):
         success = false
         print("FAIL: did not succed in IT_MAX iterations")
         break
+    # this does the whole thing unlike the C++ version lel
     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)
+    v = np.matmul(np.linalg.pinv(J), pin.log(SEerror.inverse() * Mgoal).vector)
+    v = np.array(v[:6])
     if not SIMULATION:
-      rtde_control.speedJ(v, 0.1, 1.0 / 500)
+        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())
+        q = pin.integrate(model, q, v * DT)
+    if not i % 5000:
+        print(" error = ", err_vector.transpose())
         print("pos", data.oMi[JOINT_ID])
 
 if success: 
@@ -83,5 +111,5 @@ if success:
 else:
     print("Warning: the iterative algorithm has not reached convergence to the desired precision")
 
-print("final error", err.transpose()) 
+print("final error", err_vector.transpose()) 
 
diff --git a/clik/robotiq_gripper.py b/clik/robotiq_gripper.py
new file mode 100644
index 0000000000000000000000000000000000000000..a17ab18b99a15f62dc5dff3b0785589ca33b37ac
--- /dev/null
+++ b/clik/robotiq_gripper.py
@@ -0,0 +1,291 @@
+"""Module to control Robotiq's grippers - tested with HAND-E"""
+
+import socket
+import threading
+import time
+from enum import Enum
+from typing import Union, Tuple, OrderedDict
+
+class RobotiqGripper:
+    """
+    Communicates with the gripper directly, via socket with string commands, leveraging string names for variables.
+    """
+    # WRITE VARIABLES (CAN ALSO READ)
+    ACT = 'ACT'  # act : activate (1 while activated, can be reset to clear fault status)
+    GTO = 'GTO'  # gto : go to (will perform go to with the actions set in pos, for, spe)
+    ATR = 'ATR'  # atr : auto-release (emergency slow move)
+    ADR = 'ADR'  # adr : auto-release direction (open(1) or close(0) during auto-release)
+    FOR = 'FOR'  # for : force (0-255)
+    SPE = 'SPE'  # spe : speed (0-255)
+    POS = 'POS'  # pos : position (0-255), 0 = open
+    # READ VARIABLES
+    STA = 'STA'  # status (0 = is reset, 1 = activating, 3 = active)
+    PRE = 'PRE'  # position request (echo of last commanded position)
+    OBJ = 'OBJ'  # object detection (0 = moving, 1 = outer grip, 2 = inner grip, 3 = no object at rest)
+    FLT = 'FLT'  # fault (0=ok, see manual for errors if not zero)
+
+    ENCODING = 'UTF-8'  # ASCII and UTF-8 both seem to work
+
+    class GripperStatus(Enum):
+        """Gripper status reported by the gripper. The integer values have to match what the gripper sends."""
+        RESET = 0
+        ACTIVATING = 1
+        # UNUSED = 2  # This value is currently not used by the gripper firmware
+        ACTIVE = 3
+
+    class ObjectStatus(Enum):
+        """Object status reported by the gripper. The integer values have to match what the gripper sends."""
+        MOVING = 0
+        STOPPED_OUTER_OBJECT = 1
+        STOPPED_INNER_OBJECT = 2
+        AT_DEST = 3
+
+    def __init__(self):
+        """Constructor."""
+        self.socket = None
+        self.command_lock = threading.Lock()
+        self._min_position = 0
+        self._max_position = 255
+        self._min_speed = 0
+        self._max_speed = 255
+        self._min_force = 0
+        self._max_force = 255
+
+    def connect(self, hostname: str, port: int, socket_timeout: float = 2.0) -> None:
+        """Connects to a gripper at the given address.
+        :param hostname: Hostname or ip.
+        :param port: Port.
+        :param socket_timeout: Timeout for blocking socket operations.
+        """
+        self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.socket.connect((hostname, port))
+        self.socket.settimeout(socket_timeout)
+
+    def disconnect(self) -> None:
+        """Closes the connection with the gripper."""
+        self.socket.close()
+
+    def _set_vars(self, var_dict: OrderedDict[str, Union[int, float]]):
+        """Sends the appropriate command via socket to set the value of n variables, and waits for its 'ack' response.
+        :param var_dict: Dictionary of variables to set (variable_name, value).
+        :return: True on successful reception of ack, false if no ack was received, indicating the set may not
+        have been effective.
+        """
+        # construct unique command
+        cmd = "SET"
+        for variable, value in var_dict.items():
+            cmd += f" {variable} {str(value)}"
+        cmd += '\n'  # new line is required for the command to finish
+        # atomic commands send/rcv
+        with self.command_lock:
+            self.socket.sendall(cmd.encode(self.ENCODING))
+            data = self.socket.recv(1024)
+        return self._is_ack(data)
+
+    def _set_var(self, variable: str, value: Union[int, float]):
+        """Sends the appropriate command via socket to set the value of a variable, and waits for its 'ack' response.
+        :param variable: Variable to set.
+        :param value: Value to set for the variable.
+        :return: True on successful reception of ack, false if no ack was received, indicating the set may not
+        have been effective.
+        """
+        return self._set_vars(OrderedDict([(variable, value)]))
+
+    def _get_var(self, variable: str):
+        """Sends the appropriate command to retrieve the value of a variable from the gripper, blocking until the
+        response is received or the socket times out.
+        :param variable: Name of the variable to retrieve.
+        :return: Value of the variable as integer.
+        """
+        # atomic commands send/rcv
+        with self.command_lock:
+            cmd = f"GET {variable}\n"
+            self.socket.sendall(cmd.encode(self.ENCODING))
+            data = self.socket.recv(1024)
+
+        # expect data of the form 'VAR x', where VAR is an echo of the variable name, and X the value
+        # note some special variables (like FLT) may send 2 bytes, instead of an integer. We assume integer here
+        var_name, value_str = data.decode(self.ENCODING).split()
+        if var_name != variable:
+            raise ValueError(f"Unexpected response {data} ({data.decode(self.ENCODING)}): does not match '{variable}'")
+        value = int(value_str)
+        return value
+
+    @staticmethod
+    def _is_ack(data: str):
+        return data == b'ack'
+
+    def _reset(self):
+        """
+        Reset the gripper.
+        The following code is executed in the corresponding script function
+        def rq_reset(gripper_socket="1"):
+            rq_set_var("ACT", 0, gripper_socket)
+            rq_set_var("ATR", 0, gripper_socket)
+
+            while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0):
+                rq_set_var("ACT", 0, gripper_socket)
+                rq_set_var("ATR", 0, gripper_socket)
+                sync()
+            end
+
+            sleep(0.5)
+        end
+        """
+        self._set_var(self.ACT, 0)
+        self._set_var(self.ATR, 0)
+        while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0):
+            self._set_var(self.ACT, 0)
+            self._set_var(self.ATR, 0)
+        time.sleep(0.5)
+
+
+    def activate(self, auto_calibrate: bool = True):
+        """Resets the activation flag in the gripper, and sets it back to one, clearing previous fault flags.
+        :param auto_calibrate: Whether to calibrate the minimum and maximum positions based on actual motion.
+        The following code is executed in the corresponding script function
+        def rq_activate(gripper_socket="1"):
+            if (not rq_is_gripper_activated(gripper_socket)):
+                rq_reset(gripper_socket)
+
+                while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0):
+                    rq_reset(gripper_socket)
+                    sync()
+                end
+
+                rq_set_var("ACT",1, gripper_socket)
+            end
+        end
+        def rq_activate_and_wait(gripper_socket="1"):
+            if (not rq_is_gripper_activated(gripper_socket)):
+                rq_activate(gripper_socket)
+                sleep(1.0)
+
+                while(not rq_get_var("ACT", 1, gripper_socket) == 1 or not rq_get_var("STA", 1, gripper_socket) == 3):
+                    sleep(0.1)
+                end
+
+                sleep(0.5)
+            end
+        end
+        """
+        if not self.is_active():
+            self._reset()
+            while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0):
+                time.sleep(0.01)
+
+            self._set_var(self.ACT, 1)
+            time.sleep(1.0)
+            while (not self._get_var(self.ACT) == 1 or not self._get_var(self.STA) == 3):
+                time.sleep(0.01)
+
+        # auto-calibrate position range if desired
+        if auto_calibrate:
+            self.auto_calibrate()
+
+    def is_active(self):
+        """Returns whether the gripper is active."""
+        status = self._get_var(self.STA)
+        return RobotiqGripper.GripperStatus(status) == RobotiqGripper.GripperStatus.ACTIVE
+
+    def get_min_position(self) -> int:
+        """Returns the minimum position the gripper can reach (open position)."""
+        return self._min_position
+
+    def get_max_position(self) -> int:
+        """Returns the maximum position the gripper can reach (closed position)."""
+        return self._max_position
+
+    def get_open_position(self) -> int:
+        """Returns what is considered the open position for gripper (minimum position value)."""
+        return self.get_min_position()
+
+    def get_closed_position(self) -> int:
+        """Returns what is considered the closed position for gripper (maximum position value)."""
+        return self.get_max_position()
+
+    def is_open(self):
+        """Returns whether the current position is considered as being fully open."""
+        return self.get_current_position() <= self.get_open_position()
+
+    def is_closed(self):
+        """Returns whether the current position is considered as being fully closed."""
+        return self.get_current_position() >= self.get_closed_position()
+
+    def get_current_position(self) -> int:
+        """Returns the current position as returned by the physical hardware."""
+        return self._get_var(self.POS)
+
+    def auto_calibrate(self, log: bool = True) -> None:
+        """Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper.
+        :param log: Whether to print the results to log.
+        """
+        # first try to open in case we are holding an object
+        (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1)
+        if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
+            raise RuntimeError(f"Calibration failed opening to start: {str(status)}")
+
+        # try to close as far as possible, and record the number
+        (position, status) = self.move_and_wait_for_pos(self.get_closed_position(), 64, 1)
+        if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
+            raise RuntimeError(f"Calibration failed because of an object: {str(status)}")
+        assert position <= self._max_position
+        self._max_position = position
+
+        # try to open as far as possible, and record the number
+        (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1)
+        if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
+            raise RuntimeError(f"Calibration failed because of an object: {str(status)}")
+        assert position >= self._min_position
+        self._min_position = position
+
+        if log:
+            print(f"Gripper auto-calibrated to [{self.get_min_position()}, {self.get_max_position()}]")
+
+    def move(self, position: int, speed: int, force: int) -> Tuple[bool, int]:
+        """Sends commands to start moving towards the given position, with the specified speed and force.
+        :param position: Position to move to [min_position, max_position]
+        :param speed: Speed to move at [min_speed, max_speed]
+        :param force: Force to use [min_force, max_force]
+        :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with
+        the actual position that was requested, after being adjusted to the min/max calibrated range.
+        """
+
+        def clip_val(min_val, val, max_val):
+            return max(min_val, min(val, max_val))
+
+        clip_pos = clip_val(self._min_position, position, self._max_position)
+        clip_spe = clip_val(self._min_speed, speed, self._max_speed)
+        clip_for = clip_val(self._min_force, force, self._max_force)
+
+        # moves to the given position with the given speed and force
+        var_dict = OrderedDict([(self.POS, clip_pos), (self.SPE, clip_spe), (self.FOR, clip_for), (self.GTO, 1)])
+        return self._set_vars(var_dict), clip_pos
+
+    def move_and_wait_for_pos(self, position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]:  # noqa
+        """Sends commands to start moving towards the given position, with the specified speed and force, and
+        then waits for the move to complete.
+        :param position: Position to move to [min_position, max_position]
+        :param speed: Speed to move at [min_speed, max_speed]
+        :param force: Force to use [min_force, max_force]
+        :return: A tuple with an integer representing the last position returned by the gripper after it notified
+        that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note
+        that it is possible that the position was not reached, if an object was detected during motion.
+        """
+        set_ok, cmd_pos = self.move(position, speed, force)
+        if not set_ok:
+            raise RuntimeError("Failed to set variables for move.")
+
+        # wait until the gripper acknowledges that it will try to go to the requested position
+        while self._get_var(self.PRE) != cmd_pos:
+            time.sleep(0.001)
+
+        # wait until not moving
+        cur_obj = self._get_var(self.OBJ)
+        while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING:
+            cur_obj = self._get_var(self.OBJ)
+
+        # report the actual position and the object status
+        final_pos = self._get_var(self.POS)
+        final_obj = cur_obj
+        return final_pos, RobotiqGripper.ObjectStatus(final_obj)
\ No newline at end of file
diff --git a/clik/src/clik.cpp b/clik/src/clik.cpp
index 0068e96e4a44f5c0a46f04e2052b3a83b6ee041c..c28cb881d92f6279c285f10b707f5b6b44742413 100644
--- a/clik/src/clik.cpp
+++ b/clik/src/clik.cpp
@@ -129,7 +129,7 @@ int main(void) {
   J.setZero();
 
   bool success = false;
-  Eigen::Matrix<double, 6, 1> err;
+  Eigen::Matrix<double, 6, 1> err_vector;
   Eigen::VectorXd v(model.nv);
   std::vector<double> v_as_std_vec;
   const int JOINT_ID = 6;
@@ -155,11 +155,11 @@ int main(void) {
     // se3.actinv is the inverse group action
     // 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);
+    const pinocchio::SE3 SEerror = 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) {
+    err_vector = pinocchio::log6(SEerror).toVector();
+    if (err_vector.norm() < eps) {
       success = true;
       std::cout << "reached destionation" << std::endl;
       break;
@@ -171,7 +171,7 @@ int main(void) {
     }
     pinocchio::computeJointJacobian(model, data, q, JOINT_ID, J);
     pinocchio::Data::Matrix6 Jlog;
-    pinocchio::Jlog6(Mtool.inverse(), Jlog);
+    pinocchio::Jlog6(SEerror.inverse(), Jlog);
     J = -Jlog * J;
     pinocchio::Data::Matrix6 JJt;
     JJt.noalias() = J * J.transpose();
@@ -179,7 +179,7 @@ int main(void) {
     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);
+    v.noalias() = -J.transpose() * JJt.ldlt().solve(err_vector);
     //    std::cout << v << std::endl;
     //    we're running it on the real system
     if (!PINOCCHIO_ONLY) {
@@ -199,7 +199,7 @@ int main(void) {
     // TODO wrap this in an appropriate if
     viewer.display(q);
     if (!(i % 10000)) {
-      std::cout << i << ": error = " << err.transpose() << std::endl;
+      std::cout << i << ": error = " << err_vector.transpose() << std::endl;
       std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
     }
   }
@@ -213,7 +213,7 @@ int main(void) {
   }
 
   std::cout << "\nresult: " << q.transpose() << std::endl;
-  std::cout << "\nfinal error: " << err.transpose() << std::endl;
+  std::cout << "\nfinal error: " << err_vector.transpose() << std::endl;
 
   return 0;
 }