diff --git a/kinematics.ipynb b/kinematics.ipynb
deleted file mode 100644
index 2388ff1..0000000
--- a/kinematics.ipynb
+++ /dev/null
@@ -1,99 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": 3,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "import sympy as sp\n",
-    "import numpy as np"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 17,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\phi \\right)} \\cos{\\left(\\psi \\right)} & - \\sin{\\left(\\psi \\right)} \\cos{\\left(\\phi \\right)} & \\sin{\\left(\\phi \\right)} & x\\\\\\sin{\\left(\\omega \\right)} \\sin{\\left(\\phi \\right)} \\cos{\\left(\\psi \\right)} + \\sin{\\left(\\psi \\right)} \\cos{\\left(\\omega \\right)} & - \\sin{\\left(\\omega \\right)} \\sin{\\left(\\phi \\right)} \\sin{\\left(\\psi \\right)} + \\cos{\\left(\\omega \\right)} \\cos{\\left(\\psi \\right)} & - \\sin{\\left(\\omega \\right)} \\cos{\\left(\\phi \\right)} & y\\\\\\sin{\\left(\\omega \\right)} \\sin{\\left(\\psi \\right)} - \\sin{\\left(\\phi \\right)} \\cos{\\left(\\omega \\right)} \\cos{\\left(\\psi \\right)} & \\sin{\\left(\\omega \\right)} \\cos{\\left(\\psi \\right)} + \\sin{\\left(\\phi \\right)} \\sin{\\left(\\psi \\right)} \\cos{\\left(\\omega \\right)} & \\cos{\\left(\\omega \\right)} \\cos{\\left(\\phi \\right)} & z\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "Matrix([\n",
-       "[                                 cos(phi)*cos(psi),                                  -sin(psi)*cos(phi),             sin(phi), x],\n",
-       "[sin(omega)*sin(phi)*cos(psi) + sin(psi)*cos(omega), -sin(omega)*sin(phi)*sin(psi) + cos(omega)*cos(psi), -sin(omega)*cos(phi), y],\n",
-       "[sin(omega)*sin(psi) - sin(phi)*cos(omega)*cos(psi),  sin(omega)*cos(psi) + sin(phi)*sin(psi)*cos(omega),  cos(omega)*cos(phi), z],\n",
-       "[                                                 0,                                                   0,                    0, 1]])"
-      ]
-     },
-     "execution_count": 17,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "omega = sp.symbols('omega')\n",
-    "psi = sp.symbols('psi')\n",
-    "phi = sp.symbols('phi')\n",
-    "x = sp.symbols('x')\n",
-    "y = sp.symbols('y')\n",
-    "z = sp.symbols('z')\n",
-    "\n",
-    "\n",
-    "rx = sp.Matrix([\n",
-    "    [1, 0, 0, 0],\n",
-    "    [0, sp.cos(omega), -sp.sin(omega), 0],\n",
-    "    [0, sp.sin(omega), sp.cos(omega), 0],\n",
-    "    [0, 0, 0, 1],\n",
-    "])\n",
-    "\n",
-    "ry = sp.Matrix([\n",
-    "    [sp.cos(phi), 0, sp.sin(phi), 0, ],\n",
-    "    [0, 1, 0, 0],\n",
-    "    [-sp.sin(phi), 0, sp.cos(phi), 0],\n",
-    "    [0, 0, 0, 1],\n",
-    "])\n",
-    "\n",
-    "rz = sp.Matrix([\n",
-    "    [sp.cos(psi), -sp.sin(psi), 0, 0],\n",
-    "    [sp.sin(psi), sp.cos(psi), 0, 0],\n",
-    "    [0, 0, 1, 0],\n",
-    "    [0, 0, 0, 1],\n",
-    "])\n",
-    "\n",
-    "t = sp.Matrix([\n",
-    "    [0, 0, 0, x],\n",
-    "    [0, 0, 0, y],\n",
-    "    [0, 0, 0, z],\n",
-    "    [0, 0, 0, 0],\n",
-    "])\n",
-    "\n",
-    "tm = t + rx * ry * rz\n",
-    "tm"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Python 3",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.11.5"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 2
-}