diff --git a/docs/holonomic_wrapper.png b/docs/holonomic_wrapper.png
index 7949063..ac4697e 100644
Binary files a/docs/holonomic_wrapper.png and b/docs/holonomic_wrapper.png differ
diff --git a/docs/holonomic_wrapper.svg b/docs/holonomic_wrapper.svg
index 0870377..5f64a82 100644
--- a/docs/holonomic_wrapper.svg
+++ b/docs/holonomic_wrapper.svg
@@ -14,7 +14,7 @@
    id="svg8"
    inkscape:version="1.0.2 (e86c870879, 2021-01-15, custom)"
    sodipodi:docname="holonomic_wrapper.svg"
-   inkscape:export-filename="/media/gonond/david/github/rds/docs/holonomic_wrapper.png"
+   inkscape:export-filename="C:\Users\AC\github\rds\docs\holonomic_wrapper.png"
    inkscape:export-xdpi="100"
    inkscape:export-ydpi="100">
   <defs
@@ -457,9 +457,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.175"
-     inkscape:cx="410.80736"
-     inkscape:cy="363.94558"
+     inkscape:zoom="0.12374369"
+     inkscape:cx="1505.0507"
+     inkscape:cy="193.55155"
      inkscape:document-units="mm"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -973,7 +973,7 @@
     </g>
     <g
        id="g4711-7"
-       transform="matrix(0.84387601,0,0,0.84387601,-151.5512,40.955072)"
+       transform="matrix(0.84387601,0,0,0.84387601,-145.73033,40.955072)"
        style="fill:#20ffd2;fill-opacity:1">
       <g
          word-spacing="normal"
@@ -987,7 +987,7 @@
          xml:space="preserve"
          transform="matrix(0.3,0,0,-0.3,-52.5,222.75)"
          id="g4709-4"
-         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#20ffd2;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.43299961;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#20ffd2;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.433;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
            id="path4697-4"
            d="m 478.83,424.73 v 0.12 0.13 l -0.01,0.12 v 0.11 l -0.01,0.12 -0.01,0.11 -0.01,0.11 -0.02,0.1 -0.03,0.21 -0.03,0.19 -0.05,0.18 -0.04,0.18 -0.06,0.16 -0.06,0.16 -0.06,0.15 -0.07,0.13 -0.07,0.13 -0.07,0.12 -0.08,0.12 -0.08,0.1 -0.08,0.1 -0.09,0.09 -0.08,0.08 -0.09,0.07 -0.09,0.07 -0.09,0.06 -0.1,0.05 -0.09,0.05 -0.09,0.04 -0.09,0.03 -0.09,0.03 -0.1,0.03 -0.09,0.01 -0.08,0.02 h -0.09 -0.09 c -1.25,0 -2.43,-1.29 -2.43,-2.39 0,-0.64 0.25,-0.93 0.79,-1.48 1.05,-1 1.69,-2.3 1.69,-4.09 0,-2.1 -3.03,-13.5 -8.86,-13.5 -2.54,0 -3.69,1.75 -3.69,4.32 0,2.8 1.35,6.44 2.9,10.57 0.34,0.86 0.59,1.54 0.59,2.5 0,2.23 -1.59,4.07 -4.09,4.07 -4.68,0 -6.58,-7.21 -6.58,-7.67 0,-0.5 0.5,-0.5 0.61,-0.5 0.5,0 0.54,0.11 0.79,0.91 1.44,5.03 3.58,6.17 5.03,6.17 0.4,0 1.25,0 1.25,-1.59 0,-1.25 -0.5,-2.6 -0.85,-3.49 -2.19,-5.78 -2.83,-8.08 -2.83,-10.22 0,-5.37 4.37,-6.17 6.67,-6.17 8.37,0 11.2,16.49 11.2,19.08 z"
            inkscape:connector-curvature="0"
@@ -1015,7 +1015,7 @@
     </g>
     <g
        id="g4369-8"
-       transform="matrix(0.87419651,0,0,0.87419651,-127.84409,24.956647)"
+       transform="matrix(0.87419651,0,0,0.87419651,-122.02322,24.956647)"
        style="fill:#20ffd2;fill-opacity:1">
       <g
          word-spacing="normal"
@@ -1029,7 +1029,7 @@
          xml:space="preserve"
          transform="matrix(0.3,0,0,-0.3,-52.5,222.75)"
          id="g4367-8"
-         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#20ffd2;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.43299961;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#20ffd2;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.433;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
            id="path4355-4"
            d="m 478.83,424.73 v 0.12 0.13 l -0.01,0.12 v 0.11 l -0.01,0.12 -0.01,0.11 -0.01,0.11 -0.02,0.1 -0.03,0.21 -0.03,0.19 -0.05,0.18 -0.04,0.18 -0.06,0.16 -0.06,0.16 -0.06,0.15 -0.07,0.13 -0.07,0.13 -0.07,0.12 -0.08,0.12 -0.08,0.1 -0.08,0.1 -0.09,0.09 -0.08,0.08 -0.09,0.07 -0.09,0.07 -0.09,0.06 -0.1,0.05 -0.09,0.05 -0.09,0.04 -0.09,0.03 -0.09,0.03 -0.1,0.03 -0.09,0.01 -0.08,0.02 h -0.09 -0.09 c -1.25,0 -2.43,-1.29 -2.43,-2.39 0,-0.64 0.25,-0.93 0.79,-1.48 1.05,-1 1.69,-2.3 1.69,-4.09 0,-2.1 -3.03,-13.5 -8.86,-13.5 -2.54,0 -3.69,1.75 -3.69,4.32 0,2.8 1.35,6.44 2.9,10.57 0.34,0.86 0.59,1.54 0.59,2.5 0,2.23 -1.59,4.07 -4.09,4.07 -4.68,0 -6.58,-7.21 -6.58,-7.67 0,-0.5 0.5,-0.5 0.61,-0.5 0.5,0 0.54,0.11 0.79,0.91 1.44,5.03 3.58,6.17 5.03,6.17 0.4,0 1.25,0 1.25,-1.59 0,-1.25 -0.5,-2.6 -0.85,-3.49 -2.19,-5.78 -2.83,-8.08 -2.83,-10.22 0,-5.37 4.37,-6.17 6.67,-6.17 8.37,0 11.2,16.49 11.2,19.08 z"
            inkscape:connector-curvature="0"
@@ -1057,7 +1057,7 @@
     </g>
     <g
        id="g4536-0"
-       transform="matrix(0.80921134,0,0,0.80921134,-146.26175,58.18683)"
+       transform="matrix(0.80921134,0,0,0.80921134,-140.44088,58.18683)"
        style="fill:#20ffd2;fill-opacity:1">
       <g
          word-spacing="normal"
@@ -1071,7 +1071,7 @@
          xml:space="preserve"
          transform="matrix(0.3,0,0,-0.3,-52.5,222.75)"
          id="g4534-6"
-         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#20ffd2;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.43299961;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#20ffd2;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.433;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
            id="path4524-8"
            d="m 478.83,424.73 v 0.12 0.13 l -0.01,0.12 v 0.11 l -0.01,0.12 -0.01,0.11 -0.01,0.11 -0.02,0.1 -0.03,0.21 -0.03,0.19 -0.05,0.18 -0.04,0.18 -0.06,0.16 -0.06,0.16 -0.06,0.15 -0.07,0.13 -0.07,0.13 -0.07,0.12 -0.08,0.12 -0.08,0.1 -0.08,0.1 -0.09,0.09 -0.08,0.08 -0.09,0.07 -0.09,0.07 -0.09,0.06 -0.1,0.05 -0.09,0.05 -0.09,0.04 -0.09,0.03 -0.09,0.03 -0.1,0.03 -0.09,0.01 -0.08,0.02 h -0.09 -0.09 c -1.25,0 -2.43,-1.29 -2.43,-2.39 0,-0.64 0.25,-0.93 0.79,-1.48 1.05,-1 1.69,-2.3 1.69,-4.09 0,-2.1 -3.03,-13.5 -8.86,-13.5 -2.54,0 -3.69,1.75 -3.69,4.32 0,2.8 1.35,6.44 2.9,10.57 0.34,0.86 0.59,1.54 0.59,2.5 0,2.23 -1.59,4.07 -4.09,4.07 -4.68,0 -6.58,-7.21 -6.58,-7.67 0,-0.5 0.5,-0.5 0.61,-0.5 0.5,0 0.54,0.11 0.79,0.91 1.44,5.03 3.58,6.17 5.03,6.17 0.4,0 1.25,0 1.25,-1.59 0,-1.25 -0.5,-2.6 -0.85,-3.49 -2.19,-5.78 -2.83,-8.08 -2.83,-10.22 0,-5.37 4.37,-6.17 6.67,-6.17 8.37,0 11.2,16.49 11.2,19.08 z"
            inkscape:connector-curvature="0"
@@ -1456,7 +1456,7 @@
     </g>
     <g
        id="g3042-6"
-       transform="matrix(0.80373878,0,0,0.80373878,-111.64374,84.652672)"
+       transform="matrix(0.80373878,0,0,0.80373878,-105.82287,84.652672)"
        style="fill:#ed73ff;fill-opacity:1">
       <g
          word-spacing="normal"
@@ -1470,7 +1470,7 @@
          xml:space="preserve"
          transform="matrix(0.3,0,0,-0.3,-52.5,222.75)"
          id="content-1"
-         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#ed73ff;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.43299961;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#ed73ff;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.433;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
            id="path3029-0"
            d="m 474.1,425.03 -0.09,0.17 -0.09,0.17 -0.09,0.16 -0.09,0.16 -0.1,0.16 -0.1,0.16 -0.11,0.15 -0.11,0.14 -0.11,0.15 -0.12,0.13 -0.12,0.14 -0.12,0.13 -0.13,0.12 -0.13,0.12 -0.14,0.11 -0.14,0.11 -0.14,0.11 -0.15,0.09 -0.15,0.1 -0.15,0.08 -0.16,0.08 -0.17,0.08 -0.17,0.06 -0.17,0.07 -0.17,0.05 -0.18,0.05 -0.19,0.04 -0.19,0.03 -0.19,0.03 -0.2,0.02 -0.2,0.01 h -0.21 l 0.05,-1.09 c 3.23,0 3.93,-4.08 3.93,-4.37 0,-0.32 -0.09,-0.61 -0.14,-0.86 l -2.5,-9.77 c -0.25,-0.89 -0.25,-0.98 -1,-1.84 -2.18,-2.74 -4.23,-3.53 -5.62,-3.53 -2.49,0 -3.19,2.73 -3.19,4.68 0,2.49 1.59,8.61 2.74,10.91 1.54,2.94 3.79,4.78 5.78,4.78 l -0.05,1.09 c -5.83,0 -12,-7.31 -12,-14.59 0,-4.69 2.73,-7.97 6.62,-7.97 0.99,0 3.49,0.21 6.47,3.74 0.41,-2.1 2.14,-3.74 4.53,-3.74 1.75,0 2.9,1.14 3.69,2.74 0.85,1.79 1.5,4.84 1.5,4.93 0,0.5 -0.45,0.5 -0.59,0.5 -0.5,0 -0.55,-0.2 -0.7,-0.9 -0.85,-3.24 -1.75,-6.17 -3.79,-6.17 -1.34,0 -1.5,1.29 -1.5,2.29 0,1.1 0.1,1.49 0.64,3.69 0.57,2.09 0.66,2.59 1.11,4.48 l 1.79,6.97 c 0.35,1.39 0.35,1.5 0.35,1.69 0,0.86 -0.6,1.36 -1.45,1.36 -1.19,0 -1.94,-1.11 -2.09,-2.2 z"
            inkscape:connector-curvature="0"
@@ -1524,7 +1524,7 @@
     </g>
     <g
        id="g3314-9-7"
-       transform="matrix(0.80373878,0,0,0.80373878,-111.20681,70.79722)"
+       transform="matrix(0.80373878,0,0,0.80373878,-105.38594,70.79722)"
        style="fill:#ed73ff;fill-opacity:1">
       <g
          word-spacing="normal"
@@ -1538,7 +1538,7 @@
          xml:space="preserve"
          transform="matrix(0.3,0,0,-0.3,-52.5,222.75)"
          id="g3312-4-6"
-         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#ed73ff;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.43299961;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;letter-spacing:normal;word-spacing:normal;text-anchor:start;fill:#ed73ff;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10.433;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"><path
            id="path3300-7-5"
            d="m 474.1,425.03 -0.09,0.17 -0.09,0.17 -0.09,0.16 -0.09,0.16 -0.1,0.16 -0.1,0.16 -0.11,0.15 -0.11,0.14 -0.11,0.15 -0.12,0.13 -0.12,0.14 -0.12,0.13 -0.13,0.12 -0.13,0.12 -0.14,0.11 -0.14,0.11 -0.14,0.11 -0.15,0.09 -0.15,0.1 -0.15,0.08 -0.16,0.08 -0.17,0.08 -0.17,0.06 -0.17,0.07 -0.17,0.05 -0.18,0.05 -0.19,0.04 -0.19,0.03 -0.19,0.03 -0.2,0.02 -0.2,0.01 h -0.21 l 0.05,-1.09 c 3.23,0 3.93,-4.08 3.93,-4.37 0,-0.32 -0.09,-0.61 -0.14,-0.86 l -2.5,-9.77 c -0.25,-0.89 -0.25,-0.98 -1,-1.84 -2.18,-2.74 -4.23,-3.53 -5.62,-3.53 -2.49,0 -3.19,2.73 -3.19,4.68 0,2.49 1.59,8.61 2.74,10.91 1.54,2.94 3.79,4.78 5.78,4.78 l -0.05,1.09 c -5.83,0 -12,-7.31 -12,-14.59 0,-4.69 2.73,-7.97 6.62,-7.97 0.99,0 3.49,0.21 6.47,3.74 0.41,-2.1 2.14,-3.74 4.53,-3.74 1.75,0 2.9,1.14 3.69,2.74 0.85,1.79 1.5,4.84 1.5,4.93 0,0.5 -0.45,0.5 -0.59,0.5 -0.5,0 -0.55,-0.2 -0.7,-0.9 -0.85,-3.24 -1.75,-6.17 -3.79,-6.17 -1.34,0 -1.5,1.29 -1.5,2.29 0,1.1 0.1,1.49 0.64,3.69 0.57,2.09 0.66,2.59 1.11,4.48 l 1.79,6.97 c 0.35,1.39 0.35,1.5 0.35,1.69 0,0.86 -0.6,1.36 -1.45,1.36 -1.19,0 -1.94,-1.11 -2.09,-2.2 z"
            inkscape:connector-curvature="0"