diff --git a/.gitignore b/.gitignore
index 12be492..6704ee2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -118,4 +118,5 @@ venv.bak/
 # mypy
 .mypy_cache/
 
-*.deb
\ No newline at end of file
+*.deb
+*.json
diff --git a/client/src/img/ui/dot.svg b/client/src/img/ui/dot.svg
index 9aeea04..0d1e1dc 100644
--- a/client/src/img/ui/dot.svg
+++ b/client/src/img/ui/dot.svg
@@ -61,7 +61,7 @@
      id="defs1547" /><g
      transform="translate(1,14)"
      id="g3"
-     style="fill:#ffffff;opacity:0.5"><g
+     style="fill:#ffffff;opacity:0.2"><g
        id="g5"
        style="fill:#ffffff"><circle
          style="fill:#ffffff"
diff --git a/client/src/img/ui/gripper-closed.svg b/client/src/img/ui/gripper-closed.svg
index a57566e..24da2c6 100644
--- a/client/src/img/ui/gripper-closed.svg
+++ b/client/src/img/ui/gripper-closed.svg
@@ -49,13 +49,13 @@
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        id="path2"
        inkscape:connector-curvature="0"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><circle
+       style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><circle
        stroke-miterlimit="10"
        cx="366.01401"
        cy="416.5"
        r="11.5"
        id="circle4"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><g
+       style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><g
        id="g12"><line
          stroke-miterlimit="10"
          x1="300.67999"
@@ -63,21 +63,21 @@
          x2="447.71799"
          y2="683.35498"
          id="line6"
-         style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+         style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><line
          stroke-miterlimit="10"
          x1="317.634"
          y1="758.21503"
          x2="447.71799"
          y2="758.21503"
          id="line8"
-         style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+         style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><line
          stroke-miterlimit="10"
          x1="314.133"
          y1="720.78497"
          x2="447.71799"
          y2="720.78497"
          id="line10"
-         style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></g></g><g
+         style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /></g></g><g
      id="g28"
      transform="translate(-130.42373,-154.40578)"><g
        id="g22"><line
@@ -87,48 +87,48 @@
          x2="559.67999"
          y2="683.35498"
          id="line16"
-         style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+         style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><line
          stroke-miterlimit="10"
          x1="689.76398"
          y1="758.21503"
          x2="559.67999"
          y2="758.21503"
          id="line18"
-         style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+         style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><line
          stroke-miterlimit="10"
          x1="693.26501"
          y1="720.78497"
          x2="559.67999"
          y2="720.78497"
          id="line20"
-         style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></g><path
+         style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /></g><path
        stroke-miterlimit="10"
        d="m 721.944,618.334 -85.577,366.667 h -112 V 798.334 h 35.129 V 370.651 c 0,-19.354 15.69,-35.044 35.044,-35.044 h 92.358 c 19.355,0 35.045,15.69 35.045,35.044 V 618.334 621"
        id="path24"
        inkscape:connector-curvature="0"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><circle
+       style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><circle
        stroke-miterlimit="10"
        cx="641.20001"
        cy="416.5"
        r="11.5"
        id="circle26"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></g><line
+       style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /></g><line
      stroke-miterlimit="10"
      x1="317.29425"
      y1="463.59424"
      x2="421.27628"
      y2="463.59424"
      id="line30"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><path
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><path
      stroke-miterlimit="10"
      d="M 154.84727,463.59422 H 8.590271 v -192.491 c 0,-44.987 19.094,-85.514 49.62,-113.918 l 1.633,-1.495 132.246999,-115.096 h 365.419 l 132.247,115.096 1.545,1.339 c 30.624,28.412 49.788,69.005 49.788,114.075 v 192.49 h -149.57"
      id="path32"
      inkscape:connector-curvature="0"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><rect
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><rect
      x="192.09027"
      y="8.0942202"
      stroke-miterlimit="10"
      width="365.41901"
      height="32.5"
      id="rect34"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></svg>
\ No newline at end of file
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /></svg>
\ No newline at end of file
diff --git a/client/src/img/ui/gripper-opened.svg b/client/src/img/ui/gripper-opened.svg
index d1b018c..aa1e972 100644
--- a/client/src/img/ui/gripper-opened.svg
+++ b/client/src/img/ui/gripper-opened.svg
@@ -47,13 +47,13 @@
      d="m 35.15882,464.75817 85.577,366.667 h 112 v -186.667 h -35.129 v -427.682 c 0,-19.354 -15.69,-35.044 -35.044,-35.044 h -92.358 c -19.355,0 -35.045,15.69 -35.045,35.044 v 247.682 2.667"
      id="path2"
      inkscape:connector-curvature="0"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><circle
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><circle
      stroke-miterlimit="10"
      cx="115.90181"
      cy="262.92419"
      id="circle4"
      r="11.5"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><g
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><g
      id="g12"
      transform="translate(-137.90318,-84.090825)"><line
        stroke-miterlimit="10"
@@ -62,21 +62,24 @@
        x2="335.509"
        y2="613.87097"
        id="line6"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+       style="fill:none;stroke:#22B14
+C;stroke-width:15;stroke-miterlimit:10" /><line
        stroke-miterlimit="10"
        x1="205.425"
        y1="688.72998"
        x2="335.509"
        y2="688.72998"
        id="line8"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+       style="fill:none;stroke:#22B14
+C;stroke-width:15;stroke-miterlimit:10" /><line
        stroke-miterlimit="10"
        x1="201.924"
        y1="651.29999"
        x2="335.509"
        y2="651.29999"
        id="line10"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></g><g
+       style="fill:none;stroke:#22B14
+C;stroke-width:15;stroke-miterlimit:10" /></g><g
      id="g20"
      transform="translate(-137.90318,-84.090825)"><line
        stroke-miterlimit="10"
@@ -85,48 +88,51 @@
        x2="687.47101"
        y2="613.87097"
        id="line14"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+       style="fill:none;stroke:#22B14
+C;stroke-width:15;stroke-miterlimit:10" /><line
        stroke-miterlimit="10"
        x1="817.55499"
        y1="688.72998"
        x2="687.47101"
        y2="688.72998"
        id="line16"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+       style="fill:none;stroke:#22B14
+C;stroke-width:15;stroke-miterlimit:10" /><line
        stroke-miterlimit="10"
        x1="821.05603"
        y1="651.29999"
        x2="687.47101"
        y2="651.29999"
        id="line18"
-       style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></g><path
+       style="fill:none;stroke:#22B14
+C;stroke-width:15;stroke-miterlimit:10" /></g><path
      stroke-miterlimit="10"
      d="m 711.83182,464.75817 -85.577,366.667 h -112 v -186.667 h 35.129 v -427.682 c 0,-19.354 15.69,-35.044 35.044,-35.044 h 92.358 c 19.355,0 35.045,15.69 35.045,35.044 v 247.682 2.667"
      id="path22"
      inkscape:connector-curvature="0"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><circle
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><circle
      stroke-miterlimit="10"
      cx="631.08783"
      cy="262.92419"
      id="circle24"
      r="11.5"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><line
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><line
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      y1="464.42419"
      x2="549.38483"
      y2="464.42419"
      id="line26"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><path
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><path
      stroke-miterlimit="10"
      d="M 39.15882,464.42417 H 8.9028202 v -192.491 c 0,-44.987 19.0939998,-85.514 49.6199998,-113.918 l 1.633,-1.495 132.247,-115.095997 h 365.419 l 132.247,115.095997 1.545,1.339 c 30.624,28.412 49.788,69.005 49.788,114.075 v 192.491 h -29.57"
      id="path28"
      inkscape:connector-curvature="0"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /><rect
+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /><rect
      x="192.40181"
      y="8.9241714"
      stroke-miterlimit="10"
      width="365.41901"
      height="32.5"
      id="rect30"
-     style="fill:none;stroke:#00ff00;stroke-width:15;stroke-miterlimit:10" /></svg>
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+     style="fill:none;stroke:#22B14C;stroke-width:15;stroke-miterlimit:10" /></svg>
\ No newline at end of file
diff --git a/client/src/js/view/components/settings/index.js b/client/src/js/view/components/settings/index.js
index 7e6ef46..e800fdd 100644
--- a/client/src/js/view/components/settings/index.js
+++ b/client/src/js/view/components/settings/index.js
@@ -12,7 +12,7 @@ export const Settings = ({ state, actions }) =>
         <div class="settings_categories">
             <div role='button' class={categoryClass(state.settings.category, 'general')} onmousedown={() => actions.settings.setVisibleCategory('general')}>General</div>
             {/* <li class={categoryClass(state.settings.category, 'network')} onmousedown={() => actions.settings.setVisibleCategory('network')}>Network</li> */}
-            <div role='button' class={categoryClass(state.settings.category, 'manipulator')} onmousedown={() => actions.settings.setVisibleCategory('manipulator')}>Manipulator</div>
+            <div role='button' class={categoryClass(state.settings.category, 'manipulator')} onmousedown={() => actions.settings.setVisibleCategory('manipulator')}>Addons</div>
             <div role='button' class={categoryClass(state.settings.category, 'preprogram')} onmousedown={() => actions.settings.setVisibleCategory('preprogram')}>Pre-program</div>
             {/* <li class={categoryClass(state.settings.category, 'debug')} onmousedown={() => actions.settings.setVisibleCategory('debug')}>Debug</li> */}
             <div role='button' class={categoryClass(state.settings.category, 'clupi')} onmousedown={() => actions.settings.setVisibleCategory('clupi')}>Experimental</div>
diff --git a/client/src/js/view/components/settings/settings-about.js b/client/src/js/view/components/settings/settings-about.js
index 9a51f11..bbf4165 100644
--- a/client/src/js/view/components/settings/settings-about.js
+++ b/client/src/js/view/components/settings/settings-about.js
@@ -11,9 +11,9 @@ export const SettingsAbout = ({ state }) =>
             }
         </div>
         <p>
-            Please refer to docs.turtlerover.com to know more about the control options and the Rover maintenance.
-            Feel free to contact us if you have any issue. We're constantly improving the UI, but it's still a long way to go.
-            We'd love to have you participate in the project and get any feedback!
+            Please refer to docs.turtlerover.com to know more about the control options and the Rover maintenance.</p><p>
+            We're constantly improving the UI and we'd love to have you participate in the project.
+            Feel free to contact us if you have any issue. In the meantime, have fun!
         </p>
         <span>Turtle Team</span>
         <span>contact@turtlerover.com</span>
diff --git a/client/src/js/view/components/settings/settings-general.js b/client/src/js/view/components/settings/settings-general.js
index 7751431..c65d8ba 100644
--- a/client/src/js/view/components/settings/settings-general.js
+++ b/client/src/js/view/components/settings/settings-general.js
@@ -3,7 +3,9 @@ import { ButtonHold } from '../elements/button-hold';
 
 export const SettingsGeneral = ({ actions }) =>
     <div class="settings_content">
-        <ButtonHold text='SHUTDOWN' setValue={() => actions.system.shutdown()} />
+        <ButtonHold text='SHUTDOWN' setValue={() => actions.system.shutdown()} /> 
+        <br></br>
         <ButtonHold text='REBOOT' setValue={() => actions.system.reboot()} />
+        <br></br>
         <ButtonHold text='Restart stream' setValue={() => actions.stream.start()} />
     </div>;
diff --git a/docs/inverse kinematics.xlsx b/docs/inverse kinematics.xlsx
deleted file mode 100644
index a3e93f1..0000000
Binary files a/docs/inverse kinematics.xlsx and /dev/null differ