diff --git a/src/jacobian.rs b/src/jacobian.rs
index 364b8bd..1ac39ac 100644
--- a/src/jacobian.rs
+++ b/src/jacobian.rs
@@ -3,14 +3,14 @@
  *
  * The Jacobian matrix, as described here, represents the relationship between the joint velocities
  * and the end-effector velocities:
- *
+ *```text
  * | ∂vx/∂θ1  ∂vx/∂θ2  ∂vx/∂θ3  ∂vx/∂θ4  ∂vx/∂θ5  ∂vx/∂θ6 | 
  * | ∂vy/∂θ1  ∂vy/∂θ2  ∂vy/∂θ3  ∂vy/∂θ4  ∂vy/∂θ5  ∂vy/∂θ6 | 
  * | ∂vz/∂θ1  ∂vz/∂θ2  ∂vz/∂θ3  ∂vz/∂θ4  ∂vz/∂θ5  ∂vz/∂θ6 | 
  * | ∂ωx/∂θ1  ∂ωx/∂θ2  ∂ωx/∂θ3  ∂ωx/∂θ4  ∂ωx/∂θ5  ∂ωx/∂θ6 | 
  * | ∂ωy/∂θ1  ∂ωy/∂θ2  ∂ωy/∂θ3  ∂ωy/∂θ4  ∂ωy/∂θ5  ∂ωy/∂θ6 | 
  * | ∂ωz/∂θ1  ∂ωz/∂θ2  ∂ωz/∂θ3  ∂ωz/∂θ4  ∂ωz/∂θ5  ∂ωz/∂θ6 | 
- *
+ *```
  * The first three rows correspond to the linear velocities: vx, vy, vz.
  * The last three rows correspond to the angular velocities: roll (ωx), pitch (ωy), and yaw (ωz).
  * θ1, θ2, θ3, θ4, θ5, θ6 are the joint angles.
@@ -30,14 +30,14 @@ use crate::utils::vector6_to_joints;
  *
  * The Jacobian matrix, as described here, represents the relationship between the joint velocities
  * and the end-effector velocities:
- *
+ *```text
  * | ∂vx/∂θ1  ∂vx/∂θ2  ∂vx/∂θ3  ∂vx/∂θ4  ∂vx/∂θ5  ∂vx/∂θ6 | 
  * | ∂vy/∂θ1  ∂vy/∂θ2  ∂vy/∂θ3  ∂vy/∂θ4  ∂vy/∂θ5  ∂vy/∂θ6 | 
  * | ∂vz/∂θ1  ∂vz/∂θ2  ∂vz/∂θ3  ∂vz/∂θ4  ∂vz/∂θ5  ∂vz/∂θ6 | 
  * | ∂ωx/∂θ1  ∂ωx/∂θ2  ∂ωx/∂θ3  ∂ωx/∂θ4  ∂ωx/∂θ5  ∂ωx/∂θ6 | 
  * | ∂ωy/∂θ1  ∂ωy/∂θ2  ∂ωy/∂θ3  ∂ωy/∂θ4  ∂ωy/∂θ5  ∂ωy/∂θ6 | 
  * | ∂ωz/∂θ1  ∂ωz/∂θ2  ∂ωz/∂θ3  ∂ωz/∂θ4  ∂ωz/∂θ5  ∂ωz/∂θ6 | 
- *
+ *```
  * The first three rows correspond to the linear velocities: vx, vy, vz.
  * The last three rows correspond to the angular velocities: roll (ωx), pitch (ωy), and yaw (ωz).
  * θ1, θ2, θ3, θ4, θ5, θ6 are the joint angles.