diff --git a/docs/images/lib2x-footprints2-1.JPG b/docs/images/lib2x-footprints2-1.JPG
new file mode 100644
index 00000000..5315ff4c
Binary files /dev/null and b/docs/images/lib2x-footprints2-1.JPG differ
diff --git a/docs/lib2x-footprints2.md b/docs/lib2x-footprints2.md
index bea5d649..221cedd0 100644
--- a/docs/lib2x-footprints2.md
+++ b/docs/lib2x-footprints2.md
@@ -7,7 +7,7 @@ Drive a turtle with `["forward", length]` or `["turn", angle]`. This function is
 ## Parameters
 
 - `cmds` : A list of `["forward", length]`s and `["turn", angle]`s.
-- `start` : Set the start point of the turtle.
+- `start` : Set the start point of the turtle. Default to `[0, 0]`.
 
 ## Examples
 	    
@@ -50,5 +50,5 @@ Drive a turtle with `["forward", length]` or `["turn", angle]`. This function is
 
 	polyline2d(poly, width = 1);
 
-![t3d](images/lib2x-footprints2-1.JPG)
+![footprints2](images/lib2x-footprints2-1.JPG)
 
diff --git a/docs/lib2x-footprints3.md b/docs/lib2x-footprints3.md
new file mode 100644
index 00000000..24534a57
--- /dev/null
+++ b/docs/lib2x-footprints3.md
@@ -0,0 +1,55 @@
+# footprints3
+
+A 3D verion of [footprint2](https://openhome.cc/eGossip/OpenSCAD/lib2x-footprints2.html). 
+
+**Since:** 2.4
+
+## Parameters
+
+- `cmds` : A list of `["forward", length]`s, `["turn", angle]`s, `["roll", angle]`s and `["pitch", angle]`s. 
+- `start` : Set the start point of the turtle. Default to `[0, 0, 0]`.
+
+## Examples
+	    
+	use <hull_polyline3d.scad>;
+	use <turtle/footprints3.scad>;
+	
+	function xy_arc_cmds(radius, angle, steps) = 
+		let(
+			fa = angle / steps,
+			ta = fa / 2,
+			leng = sin(ta) * radius * 2
+		)
+		concat(
+			[["turn", ta]],
+			[
+				for(i = [0:steps - 2])
+				each [["forward", leng], ["turn", fa]]
+			],
+			[["forward", leng], ["turn", ta]]
+		);
+
+	poly = footprints3(
+		concat(
+			[
+				["forward", 10],
+				["turn", 90],
+				["forward", 10] 
+			], 
+			xy_arc_cmds(5, 180, 12),
+			[
+				["pitch", 90],
+				["forward", 10],
+				["roll", 90]
+			],
+			xy_arc_cmds(5, 180, 12),
+			[
+				["forward", 10]
+			]
+		)
+	);
+
+	hull_polyline3d(poly, thickness = 1);
+
+![footprints3](images/lib2x-footprints2-1.JPG)
+
diff --git a/src/turtle/footprints3.scad b/src/turtle/footprints3.scad
index 78ec1f8d..4ee10d2b 100644
--- a/src/turtle/footprints3.scad
+++ b/src/turtle/footprints3.scad
@@ -1,53 +1,16 @@
+/**
+* footprints3.scad
+*
+* @copyright Justin Lin, 2020
+* @license https://opensource.org/licenses/lgpl-3.0.html
+*
+* @see https://openhome.cc/eGossip/OpenSCAD/lib2x-footprints3.html
+*
+**/ 
+
 use <_impl/_footprints3.scad>;
 use <turtle3d.scad>;
 
-/* 
- cmds: "forward" ("xu_move"), "turn" ("zu_turn"), "roll" (negative "xu_turn"), "pitch" (negative "yu_turn"),
-       "xu_move", "yu_move", "zu_move", "xu_turn", "yu_turn", "turn"
-
-```
-use <hull_polyline3d.scad>;
-use <turtle/footprints3.scad>;
- 
-function xy_arc_cmds(radius, angle, steps) = 
-    let(
-        fa = angle / steps,
-        ta = fa / 2,
-        leng = sin(ta) * radius * 2
-    )
-    concat(
-        [["turn", ta]],
-        [
-            for(i = [0:steps - 2])
-            each [["forward", leng], ["turn", fa]]
-        ],
-        [["forward", leng], ["turn", ta]]
-    );
-
-// cmds: "forward" ("xu_move"), "turn" ("zu_turn"), "roll" (negative "xu_turn"), "pitch" (negative "yu_turn")    
-poly = footprints3(
-    concat(
-        [
-            ["forward", 10],
-            ["turn", 90],
-            ["forward", 10] 
-        ], 
-        xy_arc_cmds(5, 180, 12),
-        [
-            ["pitch", 90],
-            ["forward", 10],
-            ["roll", 90]
-        ],
-        xy_arc_cmds(5, 180, 12),
-        [
-            ["forward", 10]
-        ]
-    )
-);
-
-hull_polyline3d(poly, thickness = 1);
-```
-*/
 function footprints3(cmds, start = [0, 0, 0]) = 
     let(
         t = turtle3d("create", start, [[1, 0, 0], [0, 1, 0], [0, 0, 1]]),