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@@ -120,18 +120,27 @@ <h2 id="generalized-jacobian-2">Generalized Jacobian [2]</h2>
 <p>If you use Genralized Jacobian in an academic context, please put the following citation.</p>
 </div>
 <p>[2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, <em>IEEE Transactions on Robotics and Automation</em>, vol. 5, no. 3, pp. 303--314, 1989.</p>
-<pre class="codehilite"><code class="linenums">@ARTICLE{generalizedJacobian,
-  author={Umetani, Y. and Yoshida, K.},
-  journal={IEEE Transactions on Robotics and Automation}, 
-  title={Resolved motion rate control of space manipulators with generalized Jacobian matrix}, 
-  year={1989},
-  volume={5},
-  number={3},
-  pages={303--314},
-  doi={10.1109/70.34766}
-}
-</code></pre>
-
+<table class="codehilitetable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
+<span class="normal"> 2</span>
+<span class="normal"> 3</span>
+<span class="normal"> 4</span>
+<span class="normal"> 5</span>
+<span class="normal"> 6</span>
+<span class="normal"> 7</span>
+<span class="normal"> 8</span>
+<span class="normal"> 9</span>
+<span class="normal">10</span></pre></div></td><td class="code"><div class="codehilite"><pre><span></span><code><span class="nv">@ARTICLE</span><span class="err">{</span><span class="n">generalizedJacobian</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">author</span><span class="o">=</span><span class="err">{</span><span class="n">Umetani</span><span class="p">,</span><span class="w"> </span><span class="n">Y</span><span class="p">.</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Yoshida</span><span class="p">,</span><span class="w"> </span><span class="n">K</span><span class="p">.</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">journal</span><span class="o">=</span><span class="err">{</span><span class="n">IEEE</span><span class="w"> </span><span class="n">Transactions</span><span class="w"> </span><span class="k">on</span><span class="w"> </span><span class="n">Robotics</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Automation</span><span class="err">}</span><span class="p">,</span><span class="w"> </span>
+<span class="w">  </span><span class="n">title</span><span class="o">=</span><span class="err">{</span><span class="n">Resolved</span><span class="w"> </span><span class="n">motion</span><span class="w"> </span><span class="n">rate</span><span class="w"> </span><span class="n">control</span><span class="w"> </span><span class="k">of</span><span class="w"> </span><span class="nf">space</span><span class="w"> </span><span class="n">manipulators</span><span class="w"> </span><span class="k">with</span><span class="w"> </span><span class="n">generalized</span><span class="w"> </span><span class="n">Jacobian</span><span class="w"> </span><span class="n">matrix</span><span class="err">}</span><span class="p">,</span><span class="w"> </span>
+<span class="w">  </span><span class="nf">year</span><span class="o">=</span><span class="err">{</span><span class="mi">1989</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">volume</span><span class="o">=</span><span class="err">{</span><span class="mi">5</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">number</span><span class="o">=</span><span class="err">{</span><span class="mi">3</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">pages</span><span class="o">=</span><span class="err">{</span><span class="mi">303</span><span class="o">--</span><span class="mi">314</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">doi</span><span class="o">=</span><span class="err">{</span><span class="mf">10.1109</span><span class="o">/</span><span class="mf">70.34766</span><span class="err">}</span><span class="w"></span>
+<span class="err">}</span><span class="w"></span>
+</code></pre></div>
+</td></tr></table>
 <h2 id="basic-knowledge-for-spacedyn-user">Basic Knowledge for SpaceDyn User</h2>
 <ul>
 <li>

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diff --git a/img/media/ex1_uneven_dynamic_fixed_stride.gif b/img/media/ex1_uneven_dynamic_fixed_stride.gif
diff --git a/img/media/ex2_flat_kinematic_Uno-gait-planning.gif b/img/media/ex2_flat_kinematic_Uno-gait-planning.gif
diff --git a/img/media/ex3_uneven_dynamic_Uno-gait-planning_stability_polyhedron.gif b/img/media/ex3_uneven_dynamic_Uno-gait-planning_stability_polyhedron.gif
diff --git a/img/media/ex4_uneven_terrain_dynamic_Non-perioidc-gait-planning.gif b/img/media/ex4_uneven_terrain_dynamic_Non-perioidc-gait-planning.gif
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@@ -97,12 +97,15 @@ <h2 id="commands">Commands</h2>
 <li><code>mkdocs help</code> - Print this help message.</li>
 </ul>
 <h2 id="project-layout">Project layout</h2>
-<pre class="codehilite"><code class="linenums">mkdocs.yml    # The configuration file.
+<table class="codehilitetable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal">1</span>
+<span class="normal">2</span>
+<span class="normal">3</span>
+<span class="normal">4</span></pre></div></td><td class="code"><div class="codehilite"><pre><span></span><code>mkdocs.yml    # The configuration file.
 docs/
     index.md  # The documentation homepage.
     ...       # Other markdown pages, images and other files.
-</code></pre>
-
+</code></pre></div>
+</td></tr></table>
 <h2 id="examples">Examples</h2>
 <h4 id="important-note">Important Note</h4>
 <ul>

diff --git a/index.html b/index.html
@@ -135,17 +135,25 @@ <h2 id="reference">Reference</h2>
 <p>If you use this simulator in an academic context, please put the following citation.</p>
 </div>
 <p>[1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, <em>Proc. IEEE/RSJ IROS</em>, pp. 1633--1638.</p>
-<pre class="codehilite"><code class="linenums">@inproceedings{spacedyn,
-  title={The SpaceDyn: a MATLAB toolbox for space and mobile robots},
-  author={Kazuya Yoshida},
-  booktitle={Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems},
-  volume={3},
-  pages={1633--1638},
-  year={1999},
-  doi={10.1109/IROS.1999.811712},
-}
-</code></pre>
-
+<table class="codehilitetable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal">1</span>
+<span class="normal">2</span>
+<span class="normal">3</span>
+<span class="normal">4</span>
+<span class="normal">5</span>
+<span class="normal">6</span>
+<span class="normal">7</span>
+<span class="normal">8</span>
+<span class="normal">9</span></pre></div></td><td class="code"><div class="codehilite"><pre><span></span><code><span class="err">@</span><span class="n">inproceedings</span><span class="p">{</span><span class="n">spacedyn</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">title</span><span class="o">=</span><span class="p">{</span><span class="n">The</span><span class="w"> </span><span class="n">SpaceDyn</span><span class="p">:</span><span class="w"> </span><span class="n">a</span><span class="w"> </span><span class="n">MATLAB</span><span class="w"> </span><span class="n">toolbox</span><span class="w"> </span><span class="k">for</span><span class="w"> </span><span class="n">space</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">mobile</span><span class="w"> </span><span class="n">robots</span><span class="p">},</span><span class="w"></span>
+<span class="w">  </span><span class="n">author</span><span class="o">=</span><span class="p">{</span><span class="n">Kazuya</span><span class="w"> </span><span class="n">Yoshida</span><span class="p">},</span><span class="w"></span>
+<span class="w">  </span><span class="n">booktitle</span><span class="o">=</span><span class="p">{</span><span class="n">Proceedings</span><span class="w"> </span><span class="mi">1999</span><span class="w"> </span><span class="n">IEEE</span><span class="o">/</span><span class="n">RSJ</span><span class="w"> </span><span class="n">International</span><span class="w"> </span><span class="n">Conference</span><span class="w"> </span><span class="n">on</span><span class="w"> </span><span class="n">Intelligent</span><span class="w"> </span><span class="n">Robots</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Systems</span><span class="p">},</span><span class="w"></span>
+<span class="w">  </span><span class="n">volume</span><span class="o">=</span><span class="p">{</span><span class="mi">3</span><span class="p">},</span><span class="w"></span>
+<span class="w">  </span><span class="n">pages</span><span class="o">=</span><span class="p">{</span><span class="mi">1633</span><span class="o">--</span><span class="mi">1638</span><span class="p">},</span><span class="w"></span>
+<span class="w">  </span><span class="n">year</span><span class="o">=</span><span class="p">{</span><span class="mi">1999</span><span class="p">},</span><span class="w"></span>
+<span class="w">  </span><span class="n">doi</span><span class="o">=</span><span class="p">{</span><span class="mf">10.1109</span><span class="o">/</span><span class="n">IROS</span><span class="o">.</span><span class="mf">1999.811712</span><span class="p">},</span><span class="w"></span>
+<span class="p">}</span><span class="w"></span>
+</code></pre></div>
+</td></tr></table>
 <p>This paper is available in <a href="https://ieeexplore.ieee.org/document/811712">IEEE Xplorer</a>.</p>
 <h2 id="release-note">Release Note</h2>
 <ul>
@@ -160,13 +168,13 @@ <h2 id="release-note">Release Note</h2>
 <h2 id="faq">FAQ</h2>
 <p>Please read this document for details, and <a href="http://www.astro.mech.tohoku.ac.jp/spacedyn/faq.html">FAQ Page</a>.</p>
 <p>For bug reports or any questions, please contact us via e-mail :</p>
-<pre class="codehilite"><code class="linenums">spacedyn_support(at)astro.mech.tohoku.ac.jp
-</code></pre>
-
+<table class="codehilitetable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal">1</span></pre></div></td><td class="code"><div class="codehilite"><pre><span></span><code>spacedyn_support(at)astro.mech.tohoku.ac.jp
+</code></pre></div>
+</td></tr></table>
 <p>or</p>
-<pre class="codehilite"><code class="linenums">srl-orbital(at)grp.tohoku.ac.jp
-</code></pre>
-
+<table class="codehilitetable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal">1</span></pre></div></td><td class="code"><div class="codehilite"><pre><span></span><code>srl-orbital(at)grp.tohoku.ac.jp
+</code></pre></div>
+</td></tr></table>
 <h2 id="acknowledgement">Acknowledgement</h2>
 <ul>
 <li>SpaceDyn is originally developed and released by alumini of SRL listed in the <a href="http://www.astro.mech.tohoku.ac.jp/spacedyn/doc.pdf">original dcument</a>. </li>
@@ -221,5 +229,5 @@ <h2 id="acknowledgement">Acknowledgement</h2>
 
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+Build Date UTC : 2024-07-19 02:26:04.453989+00:00
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@@ -113,16 +113,23 @@ <h2 id="reference">Reference</h2>
 <blockquote>
 <p>Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20</p>
 </blockquote>
-<pre class="codehilite"><code class="linenums">@inproceedings{uno2021climblab,
-  title={ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics},
-  author={Kentaro Uno and Warley F. R. Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida},
-  booktitle={Robotics for Sustainable Future},
-  pages={229--241},
-  year={2022},
-  publisher=&quot;Springer International Publishing&quot;,
-}
-</code></pre>
-
+<table class="codehilitetable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal">1</span>
+<span class="normal">2</span>
+<span class="normal">3</span>
+<span class="normal">4</span>
+<span class="normal">5</span>
+<span class="normal">6</span>
+<span class="normal">7</span>
+<span class="normal">8</span></pre></div></td><td class="code"><div class="codehilite"><pre><span></span><code><span class="nv">@inproceedings</span><span class="err">{</span><span class="n">uno2021climblab</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">title</span><span class="o">=</span><span class="err">{</span><span class="nl">ClimbLab</span><span class="p">:</span><span class="w"> </span><span class="n">MATLAB</span><span class="w"> </span><span class="n">Simulation</span><span class="w"> </span><span class="n">Platform</span><span class="w"> </span><span class="k">for</span><span class="w"> </span><span class="n">Legged</span><span class="w"> </span><span class="n">Climbing</span><span class="w"> </span><span class="n">Robotics</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">author</span><span class="o">=</span><span class="err">{</span><span class="n">Kentaro</span><span class="w"> </span><span class="n">Uno</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Warley</span><span class="w"> </span><span class="n">F</span><span class="p">.</span><span class="w"> </span><span class="n">R</span><span class="p">.</span><span class="w"> </span><span class="n">Ribeiro</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Yusuke</span><span class="w"> </span><span class="n">Koizumi</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Keigo</span><span class="w"> </span><span class="n">Haji</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Koki</span><span class="w"> </span><span class="n">Kurihara</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">William</span><span class="w"> </span><span class="n">Jones</span><span class="w"> </span><span class="ow">and</span><span class="w"> </span><span class="n">Kazuya</span><span class="w"> </span><span class="n">Yoshida</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">booktitle</span><span class="o">=</span><span class="err">{</span><span class="n">Robotics</span><span class="w"> </span><span class="k">for</span><span class="w"> </span><span class="n">Sustainable</span><span class="w"> </span><span class="n">Future</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">pages</span><span class="o">=</span><span class="err">{</span><span class="mi">229</span><span class="o">--</span><span class="mi">241</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="nf">year</span><span class="o">=</span><span class="err">{</span><span class="mi">2022</span><span class="err">}</span><span class="p">,</span><span class="w"></span>
+<span class="w">  </span><span class="n">publisher</span><span class="o">=</span><span class="ss">&quot;Springer International Publishing&quot;</span><span class="p">,</span><span class="w"></span>
+<span class="err">}</span><span class="w"></span>
+</code></pre></div>
+</td></tr></table>
 <h2 id="release-note">Release note</h2>
 <p>The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0.</p>
 <ul>