diff --git a/.aliases b/.aliases
index eadaf74..56eaabf 100644
--- a/.aliases
+++ b/.aliases
@@ -5,7 +5,9 @@ export ROS_WORKSPACE=/home/kostas/datmo_ws
 alias datmo_='cd ~/datmo_ws/src/datmo'
 alias vdatmo='vim -S ~/datmo_ws/src/datmo/.datmo.vim'
 alias t='roslaunch datmo test.launch'
+alias to='roslaunch odometry test.launch'
 alias compile='cd ~/datmo_ws && find src/datmo/src |entr -p catkin_make'
+alias lshape='mupdf ~/report/papers/L-Shape.pdf'
 
 alias datmo_compile='cd ~/datmo_ws && find  src/datmo/src/ -ignore_readdir_race |entr -p catkin_make -DCATKIN_WHITELIST_PACKAGES=datmo'
 ###################### OS [S]pecifics ##########################
@@ -47,6 +49,8 @@ alias la='ls -A'
 alias l='ls -CF'
 alias vs='vim -S'
 alias screens='sh ~/.screenlayout/monitor_laptop.sh'
+alias cl='xrandr --output eDP-1 --off'
+alias ol='xrandr --output eDP-1 --auto'
 
 ########################## R[O]S ##############################
 alias mmac='export ROS_MASTER_URI=http://localhost:11311'
@@ -93,6 +97,7 @@ alias notes_car='vim ~/Dropbox/report/notes/car.md'
 
 ####################### [V]arious #############################
 
+#alias malias="history | tail -n2 | head -n1 | awk '{$1="";=print $0}' | alias_maker"
 alias malias='history | tail -n2 | head -n1 | alias_maker'
 alias mat='cd ~/Dropbox/path_following && matlab  && cd -'
 alias cc='xclip -selection clipboard'
diff --git a/.config/i3/config b/.config/i3/config
index c0f8fba..e3a8df4 100644
--- a/.config/i3/config
+++ b/.config/i3/config
@@ -2,10 +2,8 @@
 # i3 config file (v4)
 #
 # Please see http://i3wm.org/docs/userguide.html for a complete reference!
-#
 # To get a config file with the same key positions, but for your current
 # layout, use the i3-config-wizard
-
 # Font for window titles. Will also be used by the bar unless a different font
 # is used in the bar {} block below.
 font pango:monospace 16
@@ -14,6 +12,18 @@ font pango:monospace 16
 # text rendering and scalability on retina/hidpi displays (thanks to pango).
 #font pango:DejaVu Sans Mono 8
 
+for_window [class="St" title="todo.md"] move scratchpad
+exec_always --no-startup-id "st -e vim ~/Dropbox/todo.md"
+
+for_window [class="MuPDF" title="kim2018shape.pdf"] move workspace 4:Papers
+exec_always --no-startup-id "mupdf ~/report/papers/kim2018shape.pdf"
+
+for_window [class="St" title="datmo.tex"] move workspace 8:Report
+exec_always st -e vim -S /home/kostas/report/.report.vim
+
+for_window [window_role="pop-up"] floating enable
+
+hide_edge_borders smart
 set $mod Mod4
 set $up k
 set $down j
@@ -24,7 +34,7 @@ bar {
 	font pango:mono 10
 	status_command i3blocks
 	#status_command i3status
-        #tray_output primary
+	#tray_output primary
 	position top
 	mode dock
 	modifier None
@@ -41,7 +51,8 @@ bindsym $mod+Return exec st
 bindsym $mod+d exec dmenu_run 
 bindsym $mod+Shift+w exec firefox https://web.whatsapp.com
 bindsym $mod+Shift+m exec firefox https://messenger.com
-
+bindsym $mod+s sticky toggle
+ 
 
 # kill focused window
 bindsym $mod+Shift+q kill
@@ -55,10 +66,9 @@ exec xrandr --auto
 exec --no-startup-id nm-applet
 exec --no-startup-id dropbox start
 exec --no-startup-id compton 
-exec --no-startup-id i3-msg workspace 8:Report; exec st -e vim -S /home/kostas/report/.report.vim
-exec --no-startup-id i3-msg workspace 3:Plots
-exec --no-startup-id i3-msg exec st -e vim -S /home/kostas/datmo_ws/src/evo/.evo.vim
-exec --no-startup-id i3-msg "workspace 2:Datmo; exec st -e vim -S /home/kostas/datmo_ws/src/datmo/.datmo.vim"
+#exec --no-startup-id i3-msg workspace 3:Plots
+#exec --no-startup-id i3-msg exec st -e vim -S /home/kostas/datmo_ws/src/evo/.evo.vim
+#exec --no-startup-id i3-msg "workspace 2:Datmo; exec st -e vim -S /home/kostas/datmo_ws/src/datmo/.datmo.vim"
 
 # Keyboard man xkeyboard-config
 exec setxkbmap -layout us,gr -option 'grp:caps_toggle' 
@@ -86,6 +96,9 @@ bindsym $mod+Shift+Left move left
 bindsym $mod+Shift+Down move down
 bindsym $mod+Shift+Up move up
 bindsym $mod+Shift+Right move right
+# move to different motitor
+bindsym $mod+greater move workspace to output right
+bindsym $mod+less move workspace to output left
 
 # split in horizontal orientation
 bindsym $mod+z split h
@@ -97,29 +110,32 @@ bindsym $mod+v split v
 bindsym $mod+f fullscreen toggle
 
 # change container layout (stacked, tabbed, toggle split)
-bindsym $mod+s layout stacking
+#bindsym $mod+s layout stacking
 bindsym $mod+w layout tabbed
 bindsym $mod+e layout toggle split
 
 # toggle tiling / floating
-bindsym $mod+Shift+space floating toggle
+bindsym $mod+Shift+minus floating toggle
 
 # change focus between tiling / floating windows
-bindsym $mod+space focus mode_toggle
+bindsym $mod+minus focus mode_toggle
+
+# move the currently focused window to the scratchpad
+bindsym $mod+Shift+space move scratchpad
+
+# Show the next scratchpad window or hide the focused scratchpad window.
+# If there are multiple scratchpad windows, this command cycles through them.
+bindsym $mod+space scratchpad show
 
 # focus the parent container
 bindsym $mod+a focus parent
+bindsym $mod+b bar mode toggle
 
 # focus the child container
 #bindsym $mod+d focus child
 
-# move the currently focused window to the scratchpad
-bindsym $mod+Shift+minus move scratchpad
-
-# Show the next scratchpad window or hide the focused scratchpad window.
-# If there are multiple scratchpad windows, this command cycles through them.
-bindsym $mod+minus scratchpad show
 
+# [W]orkspaces
 # switch to workspace
 bindsym $mod+1 workspace 1:Firefox
 bindsym $mod+2 workspace 2:Datmo
@@ -151,8 +167,8 @@ bindsym $mod+Shift+r restart
 # exit i3 (logs you out of your X session)
 bindsym $mod+Shift+e exec "i3-nagbar -t warning -m 'You pressed the exit shortcut. Do you really want to exit i3? This will end your X session.' -b 'Yes, exit i3' 'i3-msg exit'"
 
-# resize window (you can also use the mouse for that)
-bindsym $mod+r mode "resize"
+# [R]esize
+bindsym $mod+r mode "resize" 
 mode "resize" {
         # These bindings trigger as soon as you enter the resize mode
 
@@ -176,4 +192,3 @@ mode "resize" {
         bindsym Escape mode "default"
 }
 
-
diff --git a/.local/bin/alias_maker b/.local/bin/alias_maker
index a787836..d3f7856 100755
--- a/.local/bin/alias_maker
+++ b/.local/bin/alias_maker
@@ -1,20 +1,12 @@
 #! /bin/bash
 
+if [ "$1" == "" ]; then
+	cowsay -t "Give me a word, bitch"
+	exit 1
+fi
 read HIST
-echo "$HIST"
-#awk '{$1="";print $0}' "$HIST" > "$command"
+command=$(echo "$HIST" | awk '{$1="";print $0}')
+echo "alias $1='$command'">>/home/kostas/.aliases
 
-"$command" = "$(awk '{$1="";print $0}' "$HIST" )"
-#| cut -d' ' -f4- 
+cowsay "$alias $1='$command' has been added to your aliases"
 
-#cowsay -t "Give me a word, bitch"
-
-#if [ $1 =="" ]; then
-	#cowsay -t "Give me a word, bitch"
-	#exit 1
-#fi
-
-#new_alias="alias $1='$command'"
-#echo "${new_alias}">>~/.dotfiles/aliases
-
-#cowsay "${new_alias} has been added to your aliases"
diff --git a/.rviz/persistent_settings b/.rviz/persistent_settings
deleted file mode 100644
index df4cd70..0000000
--- a/.rviz/persistent_settings
+++ /dev/null
@@ -1,5 +0,0 @@
-Last Config Dir: /home/kostas/datmo_ws/src/datmo/config
-Last Image Dir: ""
-Recent Configs:
-  - /home/kostas/datmo_ws/src/datmo/config/datmo.rviz
-  - /home/kostas/datmo_ws/src/datmo/config/video.rviz
diff --git a/.vimrc b/.vimrc
index 4e65408..20af46f 100644
--- a/.vimrc
+++ b/.vimrc
@@ -123,13 +123,27 @@ au BufNewFile,BufRead *.py
 """"""""" [Y]CM 
 let g:ycm_server_python_interpreter="/usr/bin/python"
 
+""""""""" [F]ast Fold
+let g:tex_fold_enabled = 1
+let g:xml_syntax_folding = 1
+let g:fastfold_savehook = 1
 """"""""" La[T]ex vimtex 
-let g:tex_flavor='latex'
+"let g:tex_flavor='latex'
+let g:tex_flavor='pdflatex'
 let g:vimtex_quickfix_mode=0
+"let g:vimtex_fold_manual=1
 let g:tex_conceal='abdmg' "concealment
 set conceallevel=1 "concealment
+
+
+""""""""" Indentation
+"let g:vimtex_indent_enabled=1
+"let g:vimtex_indent_bib_enabled=1
+"let g:vimtex_indent_on_ampersands=1
+
 au BufNewFile,BufRead *.tex
      \ set wrap linebreak nolist |
+     \ set foldmethod=syntax
      "\ set spell spelllang=en_gb 
 
 """"""""" [P]lugin manager
@@ -149,10 +163,17 @@ Plug 'sjl/gundo.vim'
 "Plug 'vim-syntastic/syntastic'
 Plug 'PotatoesMaster/i3-vim-syntax'
 Plug 'SirVer/ultisnips'|Plug 'honza/vim-snippets'
-Plug 'lervag/vimtex'
+Plug 'lervag/vimtex'|Plug 'Konfekt/FastFold'
 Plug 'ycm-core/YouCompleteMe'
 if !has('macunix')
       Plug 'taketwo/vim-ros'
 endif
 
 call plug#end() " Initialize plugin system
+
+function! OpenBibtexPDF()
+    let s:word = expand("<cword>")
+    let s:cmd = "silent !setsid mupdf `find ~/report/papers/ -iname '" . s:word . ".pdf' | head -1`"
+    execute s:cmd
+endfunction 
+map <silent> <leader>r :call OpenBibtexPDF()<cr>