diff --git a/docs/.buildinfo b/docs/.buildinfo
index 5c58f43..899c5b8 100644
--- a/docs/.buildinfo
+++ b/docs/.buildinfo
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diff --git a/docs/_static/documentation_options.js b/docs/_static/documentation_options.js
index 5ca7217..1d49c69 100644
--- a/docs/_static/documentation_options.js
+++ b/docs/_static/documentation_options.js
@@ -1,6 +1,6 @@
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-    VERSION: '0.1.5-alpha',
+    VERSION: '0.2.0-alpha',
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     COLLAPSE_INDEX: false,
     BUILDER: 'html',
diff --git a/docs/api/dynamiclinkage.html b/docs/api/dynamiclinkage.html
index ecb8dae..3b5e13d 100644
--- a/docs/api/dynamiclinkage.html
+++ b/docs/api/dynamiclinkage.html
@@ -8,7 +8,7 @@
   
   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   
-  <title>dynamiclinkage &mdash; LeggedSnake 0.1.5-alpha documentation</title>
+  <title>dynamiclinkage &mdash; LeggedSnake 0.2.0-alpha documentation</title>
   
 
   
diff --git a/docs/api/geneticoptimizer.html b/docs/api/geneticoptimizer.html
index 141377a..c421344 100644
--- a/docs/api/geneticoptimizer.html
+++ b/docs/api/geneticoptimizer.html
@@ -8,7 +8,7 @@
   
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-  <title>geneticoptimizer &mdash; LeggedSnake 0.1.5-alpha documentation</title>
+  <title>geneticoptimizer &mdash; LeggedSnake 0.2.0-alpha documentation</title>
   
 
   
diff --git a/docs/api/physicsengine.html b/docs/api/physicsengine.html
index 40cad64..6769c82 100644
--- a/docs/api/physicsengine.html
+++ b/docs/api/physicsengine.html
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   <meta name="viewport" content="width=device-width, initial-scale=1.0">
   
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diff --git a/docs/api/utility.html b/docs/api/utility.html
index 0a3a4a8..a903e9e 100644
--- a/docs/api/utility.html
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-  <title>utility &mdash; LeggedSnake 0.1.5-alpha documentation</title>
+  <title>utility &mdash; LeggedSnake 0.2.0-alpha documentation</title>
   
 
   
@@ -185,13 +185,13 @@ <h1>utility<a class="headerlink" href="#utility" title="Permalink to this headli
 <li><p><strong>points</strong> (<em>list</em><em>[</em><em>list</em><em>[</em><em>int</em><em>]</em><em>]</em>) – locus as a list of point coordinates.</p></li>
 <li><p><strong>height</strong> (<em>float</em>) – obstacle’s height</p></li>
 <li><p><strong>width</strong> (<em>float</em>) – obstacle’s width</p></li>
-<li><p><strong>return_res</strong> – <ul>
+<li><p><strong>return_res</strong> (<em>bool</em><em>, </em><em>optional</em>) – <ul>
 <li><p>If True: return the set of points that pass obstacle (slower).</p></li>
 <li><p>If False: return if the obstacle can be passed</p></li>
 </ul>
-<p>The default is False</p>
+<p>The default is False.</p>
 </p></li>
-<li><p><strong>y_min</strong> (<em>lowest ordinate in the locus</em><em> (</em><em>faster if provided</em><em>)</em>) – </p></li>
+<li><p><strong>y_min</strong> (<em>float</em><em>, </em><em>optional</em>) – Lowest ordinate in the locus (faster if provided)</p></li>
 </ul>
 </dd>
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index 331cc1c..8311a41 100644
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index 16beafb..9e98ddf 100644
--- a/docs/changeloglink.html
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-<li class="toctree-l2"><a class="reference internal" href="#alpha-2021-07-14">[0.1.5-alpha] - 2021-07-14</a><ul>
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 <li class="toctree-l3"><a class="reference internal" href="#added">Added</a></li>
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@@ -218,7 +218,7 @@ <h1>Changelog<a class="headerlink" href="#changelog" title="Permalink to this he
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 <div class="section" id="alpha-2021-07-14">
-<h2>[0.1.5-alpha] - 2021-07-14<a class="headerlink" href="#alpha-2021-07-14" title="Permalink to this headline">¶</a></h2>
+<h2>[0.2.0-alpha] - 2021-07-14<a class="headerlink" href="#alpha-2021-07-14" title="Permalink to this headline">¶</a></h2>
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index d994c30..520ea48 100644
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index 92f5bd7..55dd1bc 100644
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-  <title>Welcome to LeggedSnake’s documentation! &mdash; LeggedSnake 0.1.5-alpha documentation</title>
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@@ -169,7 +169,7 @@ <h1>Welcome to LeggedSnake’s documentation!<a class="headerlink" href="#welcom
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-<li class="toctree-l2"><a class="reference internal" href="changeloglink.html#alpha-2021-07-14">[0.1.5-alpha] - 2021-07-14</a></li>
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 <li class="toctree-l2"><a class="reference internal" href="changeloglink.html#alpha-2021-07-12">[0.1.4-alpha] - 2021-07-12</a></li>
 <li class="toctree-l2"><a class="reference internal" href="changeloglink.html#alpha-2021-07-10">[0.1.3-alpha] - 2021-07-10</a></li>
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-  <title>MIT License &mdash; LeggedSnake 0.1.5-alpha documentation</title>
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index 4f7c400..befe4ec 100644
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index 8bace20..5d03002 100644
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+  <title>Search &mdash; LeggedSnake 0.2.0-alpha documentation</title>
   
 
   
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index 9e7d88c..3138ce7 100644
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to LeggedSnake\u2019s documentation!","MIT License","leggedsnake"],titleterms:{"0":5,"06":5,"07":5,"1":5,"10":5,"12":5,"14":5,"2":5,"2021":[5,7],"22":5,"23":5,"25":5,"26":5,"3":5,"4":5,"function":3,ad:5,advic:[6,8],algorithm:[1,6,8],alpha:5,c:7,chang:5,changelog:5,compat:0,content:6,copyright:7,defin:[6,8],deprec:5,document:6,dynam:[0,2,6,8],dynamiclinkag:0,environ:[6,8],farajallah:7,fix:5,ga:[1,6,8],genet:[1,6,8],geneticoptim:1,hugo:7,indic:6,inherit:4,instal:[6,8],interfac:0,joint:0,kinemat:[6,8],leggedsnak:[6,8],licens:7,link:[6,8],linkag:4,mit:7,optim:[1,6,8],particl:[6,8],physicsengin:2,pip:[6,8],pso:[6,8],quick:[6,8],remov:5,requir:[6,8],s:6,secur:5,set:[6,8],simul:2,swarm:[6,8],tabl:6,unreleas:5,up:[6,8],us:[1,6,8],usag:[6,8],util:3,virtual:[6,8],visual:[6,8],walker:[3,4,6,8],welcom:6}})
\ No newline at end of file
diff --git a/leggedsnake/__init__.py b/leggedsnake/__init__.py
index b64e881..f3d0bfa 100644
--- a/leggedsnake/__init__.py
+++ b/leggedsnake/__init__.py
@@ -39,4 +39,4 @@
     World, VisualWorld
 )
 
-__version__ = "0.1.5"
+__version__ = "0.2.0"
diff --git a/setup.cfg b/setup.cfg
index abe4fd4..40fb33c 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.1.5
+current_version = 0.2.0
 commit = False
 tag = False
 
diff --git a/source/conf.py b/source/conf.py
index 3a8b6ad..aac9018 100644
--- a/source/conf.py
+++ b/source/conf.py
@@ -22,7 +22,7 @@
 author = 'Hugo Farajallah'
 
 # The full version, including alpha/beta/rc tags
-release = '0.1.5-alpha'
+release = '0.2.0-alpha'
 
 
 # -- General configuration ---------------------------------------------------