diff --git a/.gitignore b/.gitignore
index 3e54b1f..e69de29 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +0,0 @@
-publish.sh
-tests
-setup.py
-dist
diff --git a/Package/python/publish.sh b/Package/python/publish.sh
new file mode 100755
index 0000000..48934a9
--- /dev/null
+++ b/Package/python/publish.sh
@@ -0,0 +1,2 @@
+python setup.py sdist
+twine upload dist/*
diff --git a/Package/python/setup.py b/Package/python/setup.py
new file mode 100644
index 0000000..452f8c3
--- /dev/null
+++ b/Package/python/setup.py
@@ -0,0 +1,44 @@
+from setuptools import setup, find_packages
+
+with open("README.md", "r", encoding="utf-8") as fh:
+    long_description = fh.read()
+
+setup(
+    name="bellande_step",
+    version="0.3.3",
+    description="Robots Step",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    author="RonaldsonBellande",
+    author_email="ronaldsonbellande@gmail.com",
+    packages=find_packages(where="src"),
+    package_dir={"": "src"},
+    include_package_data=True,
+    install_requires=[
+        "numpy",
+    ],
+    classifiers=[
+        "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
+        "Programming Language :: Python",
+    ],
+    keywords=["package", "setuptools"],
+    python_requires=">=3.0",
+    extras_require={
+        "dev": ["pytest", "pytest-cov[all]", "mypy", "black"],
+    },
+    package_data={
+        'bellande_step': ['Bellande_Step'],
+    },
+    entry_points={
+        'console_scripts': [
+            'bellande_step_executable = bellande_step.bellande_step_executable:main',
+            'bellande_step_api = bellande_step.bellande_step_api:main',
+        ],
+    },
+    project_urls={
+        "Home": "https://github.com/Robotics-Sensors/bellande_step",
+        "Homepage": "https://github.com/Robotics-Sensors/bellande_step",
+        "documentation": "https://github.com/Robotics-Sensors/bellande_step",
+        "repository": "https://github.com/Robotics-Sensors/bellande_step",
+    },
+)
diff --git a/Package/python/src/.gitignore b/Package/python/src/.gitignore
new file mode 100644
index 0000000..3bd3f0d
--- /dev/null
+++ b/Package/python/src/.gitignore
@@ -0,0 +1 @@
+bellande_step.egg-info
diff --git a/Package/python/src/__init__.py b/Package/python/src/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Package/python/src/bellande_step/Bellande_Step b/Package/python/src/bellande_step/Bellande_Step
new file mode 100755
index 0000000..5f4247f
Binary files /dev/null and b/Package/python/src/bellande_step/Bellande_Step differ
diff --git a/Package/python/src/bellande_step/__init__.py b/Package/python/src/bellande_step/__init__.py
new file mode 100644
index 0000000..14b2a3f
--- /dev/null
+++ b/Package/python/src/bellande_step/__init__.py
@@ -0,0 +1,3 @@
+"""
+ros_extension
+"""
diff --git a/Package/python/src/bellande_step/bellande_step_api.py b/Package/python/src/bellande_step/bellande_step_api.py
new file mode 100644
index 0000000..4df3a53
--- /dev/null
+++ b/Package/python/src/bellande_step/bellande_step_api.py
@@ -0,0 +1,78 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+#!/usr/bin/env python3
+
+import requests
+import argparse
+import json
+import sys
+
+def make_bellande_step_request(node0, node1, limit, dimensions):
+    url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step_nd"
+    
+    # Convert string inputs to lists if they're strings
+    if isinstance(node0, str):
+        node0 = json.loads(node0)
+    if isinstance(node1, str):
+        node1 = json.loads(node1)
+    
+    payload = {
+        "node0": node0,
+        "node1": node1,
+        "limit": limit,
+        "dimensions": dimensions,
+        "auth": {
+            "authorization_key": "bellande_web_api_opensource"
+        }
+    }
+    
+    headers = {
+        'accept': 'application/json',
+        'Content-Type': 'application/json'
+    }
+    
+    try:
+        response = requests.post(url, json=payload, headers=headers)
+        response.raise_for_status()
+        return response.json()
+    except requests.RequestException as e:
+        print(f"Error making request: {e}", file=sys.stderr)
+        sys.exit(1)
+
+def main():
+    parser = argparse.ArgumentParser(description="Run Bellande Step API")
+    parser.add_argument("--node0", required=True, help="First coordinate as JSON-formatted list")
+    parser.add_argument("--node1", required=True, help="Second coordinate as JSON-formatted list")
+    parser.add_argument("--limit", type=int, required=True, help="Limit for the algorithm")
+    parser.add_argument("--dimensions", type=int, required=True, help="Number of dimensions")
+    
+    args = parser.parse_args()
+    
+    try:
+        result = make_bellande_step_request(
+            args.node0,
+            args.node1,
+            args.limit,
+            args.dimensions
+        )
+        
+        print(json.dumps(result, indent=2))
+    except json.JSONDecodeError as e:
+        print(f"Error: Invalid JSON format in coordinates - {e}", file=sys.stderr)
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()
diff --git a/Package/python/src/bellande_step/bellande_step_executable.py b/Package/python/src/bellande_step/bellande_step_executable.py
new file mode 100644
index 0000000..a2f253c
--- /dev/null
+++ b/Package/python/src/bellande_step/bellande_step_executable.py
@@ -0,0 +1,79 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+#!/usr/bin/env python3
+
+import subprocess
+import argparse
+import json
+import os
+import sys
+
+def get_executable_path():
+    if getattr(sys, 'frozen', False):
+        application_path = sys._MEIPASS
+    else:
+        application_path = os.path.dirname(os.path.abspath(__file__))
+    
+    return os.path.join(application_path, 'Bellande_Step')
+
+def run_bellande_step(node0, node1, limit, dimensions):
+    executable_path = get_executable_path()
+    passcode = "bellande_step_executable_access_key"
+
+    # Convert string representations of coordinates to actual lists
+    node0_list = json.loads(node0)
+    node1_list = json.loads(node1)
+
+    # Validate input
+    if len(node1_list) != dimensions or len(node0_list) != dimensions:
+        raise ValueError(f"Coordinates must have {dimensions} dimensions")
+
+    # Prepare the command
+    command = [
+        executable_path,
+        passcode,
+        json.dumps(node0_list),
+        json.dumps(node1_list),
+        str(limit),
+        str(dimensions)
+    ]
+
+    # Run the command
+    try:
+        result = subprocess.run(command, check=True, capture_output=True, text=True)
+        print(result.stdout)
+    except subprocess.CalledProcessError as e:
+        print("Error occurred:", e)
+        print("Error output:", e.stderr)
+
+def main():
+    parser = argparse.ArgumentParser(description="Run Bellande Step Executable")
+    parser.add_argument("--node0", help="First coordinate as a JSON-formatted list")
+    parser.add_argument("--node1", help="Second coordinate as a JSON-formatted list")
+    parser.add_argument("--limit", type=int, help="Limit for the algorithm")
+    parser.add_argument("--dimensions", type=int, help="Number of dimensions")
+    
+    args = parser.parse_args()
+
+    run_bellande_step(
+        args.node0,
+        args.node1,
+        args.limit,
+        args.dimensions
+    )
+
+if __name__ == "__main__":
+    main()
diff --git a/README.md b/README.md
index 9849594..ec13837 100644
--- a/README.md
+++ b/README.md
@@ -186,7 +186,7 @@ You want to compute the next step from `node0` towards `node1` while limiting th
 
 ```python
 # Define Import 
-from bellande_step.bellande_step_2d import bellande_step_2d, Node2D
+from bellande_step.bellande_step_2d import bellande_step_2d
 
 # Define the nodes
 node0 = Node2D(0, 0)
@@ -209,7 +209,7 @@ You want to compute the next step from `node0` towards `node1` while limiting th
 
 ```python
 # Define Import 
-from bellande_step.bellande_step_3d import bellande_step_3d, Node3D 
+from bellande_step.bellande_step_3d import bellande_step_3d
 
 # Define the nodes
 node0 = Node3D(0, 0, 0)
diff --git a/configs/bellande/http_configs.bellande b/configs/bellande/http_configs.bellande
index 14a907b..dfd0673 100644
--- a/configs/bellande/http_configs.bellande
+++ b/configs/bellande/http_configs.bellande
@@ -16,6 +16,6 @@
 url: https://bellande-robotics-sensors-research-innovation-center.org
 
 endpoint_path:
-    bellande_step: /api/Bellande_Step/bellande_step_nd
+    bellande_step: /api/Bellande_Step/bellande_step
 
 Bellande_Framework_Access_Key: bellande_web_api_opensource
diff --git a/configs/bellande/tcp_configs.bellande b/configs/bellande/tcp_configs.bellande
index e42fa0f..ffc3713 100644
--- a/configs/bellande/tcp_configs.bellande
+++ b/configs/bellande/tcp_configs.bellande
@@ -16,6 +16,6 @@
 url: tcp://bellande-robotics-sensors-research-innovation-center.org
 
 endpoint_path:
-    bellande_step: /api/Bellande_Step/bellande_step_nd
+    bellande_step: /api/Bellande_Step/bellande_step
 
 Bellande_Framework_Access_Key: bellande_web_api_opensource
diff --git a/configs/bellande/tls_configs.bellande b/configs/bellande/tls_configs.bellande
index e67fa1d..1a28ae5 100644
--- a/configs/bellande/tls_configs.bellande
+++ b/configs/bellande/tls_configs.bellande
@@ -16,6 +16,6 @@
 url: tls://bellande-robotics-sensors-research-innovation-center.org
 
 endpoint_path:
-    bellande_step: /api/Bellande_Step/bellande_step_nd
+    bellande_step: /api/Bellande_Step/bellande_step
 
 Bellande_Framework_Access_Key: bellande_web_api_opensource
diff --git a/git_scripts/.gitignore b/git_scripts/.gitignore
new file mode 100644
index 0000000..e5a7a9c
--- /dev/null
+++ b/git_scripts/.gitignore
@@ -0,0 +1,3 @@
+fix_errors.sh
+push.sh
+repository_recal.sh
diff --git a/run_api.bellos b/run_api.bellos
index 62ea96e..1ded652 100755
--- a/run_api.bellos
+++ b/run_api.bellos
@@ -1,5 +1,5 @@
 curl -X 'POST' \
-  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step_nd' \
+  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step' \
   -H 'accept: application/json' \
   -H 'Content-Type: application/json' \
   -d '{
diff --git a/run_api.sh b/run_api.sh
index 62ea96e..1ded652 100755
--- a/run_api.sh
+++ b/run_api.sh
@@ -1,5 +1,5 @@
 curl -X 'POST' \
-  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step_nd' \
+  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step' \
   -H 'accept: application/json' \
   -H 'Content-Type: application/json' \
   -d '{