diff --git a/poetry.lock b/poetry.lock
index f745d0d..10bed7b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 2.0.1 and should not be changed by hand.
 
 [[package]]
 name = "alabaster"
@@ -6,6 +6,7 @@ version = "0.7.16"
 description = "A light, configurable Sphinx theme"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
     {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
     {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
@@ -13,47 +14,49 @@ files = [
 
 [[package]]
 name = "babel"
-version = "2.15.0"
+version = "2.17.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.8"
+groups = ["docs"]
 files = [
-    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
-    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
+    {file = "babel-2.17.0-py3-none-any.whl", hash = "sha256:4d0b53093fdfb4b21c92b5213dba5a1b23885afa8383709427046b21c366e5f2"},
+    {file = "babel-2.17.0.tar.gz", hash = "sha256:0c54cffb19f690cdcc52a3b50bcbf71e07a808d1c80d549f2459b9d2cf0afb9d"},
 ]
 
 [package.extras]
-dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+dev = ["backports.zoneinfo", "freezegun (>=1.0,<2.0)", "jinja2 (>=3.0)", "pytest (>=6.0)", "pytest-cov", "pytz", "setuptools", "tzdata"]
 
 [[package]]
 name = "black"
-version = "24.4.2"
+version = "24.10.0"
 description = "The uncompromising code formatter."
 optional = false
-python-versions = ">=3.8"
-files = [
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+    {file = "black-24.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ccfa1d0cb6200857f1923b602f978386a3a2758a65b52e0950299ea014be6800"},
+    {file = "black-24.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:2cd9c95431d94adc56600710f8813ee27eea544dd118d45896bb734e9d7a0dc7"},
+    {file = "black-24.10.0-py3-none-any.whl", hash = "sha256:3bb2b7a1f7b685f85b11fed1ef10f8a9148bceb49853e47a294a3dd963c1dd7d"},
+    {file = "black-24.10.0.tar.gz", hash = "sha256:846ea64c97afe3bc677b761787993be4991810ecc7a4a937816dd6bddedc4875"},
 ]
 
 [package.dependencies]
@@ -67,7 +70,7 @@ typing-extensions = {version = ">=4.0.1", markers = "python_version < \"3.11\""}
 
 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)", "aiohttp (>=3.7.4,!=3.9.0)"]
+d = ["aiohttp (>=3.10)"]
 jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
 uvloop = ["uvloop (>=0.15.2)"]
 
@@ -77,6 +80,8 @@ version = "4.0.0"
 description = "Blender as a Python module"
 optional = false
 python-versions = "==3.10.*"
+groups = ["main"]
+markers = "python_version < \"3.11.dev0\""
 files = [
     {file = "bpy-4.0.0-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:fb3f0d8c2ffb4dfa26d9cb31ccd59b9cc7336d5bc3b6b8f067642b191785cf10"},
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@@ -96,6 +101,8 @@ version = "4.1.0"
 description = "Blender as a Python module"
 optional = false
 python-versions = "==3.11.*"
+groups = ["main"]
+markers = "python_version >= \"3.11.dev0\""
 files = [
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@@ -111,74 +118,92 @@ zstandard = "*"
 
 [[package]]
 name = "certifi"
-version = "2024.7.4"
+version = "2025.1.31"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
+groups = ["main", "dev", "docs", "examples"]
 files = [
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+    {file = "certifi-2025.1.31.tar.gz", hash = "sha256:3d5da6925056f6f18f119200434a4780a94263f10d1c21d032a6f6b2baa20651"},
 ]
 
 [[package]]
 name = "cffi"
-version = "1.16.0"
+version = "1.17.1"
 description = "Foreign Function Interface for Python calling C code."
 optional = false
 python-versions = ">=3.8"
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 [package.dependencies]
@@ -190,6 +215,7 @@ version = "3.4.0"
 description = "Validate configuration and produce human readable error messages."
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
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@@ -197,112 +223,116 @@ files = [
 
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 name = "click"
-version = "8.1.7"
+version = "8.1.8"
 description = "Composable command line interface toolkit"
 optional = false
 python-versions = ">=3.7"
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 [package.dependencies]
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 description = "Hosted coverage reports for GitHub, Bitbucket and Gitlab"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
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 description = "Cross-platform colored terminal text."
 optional = false
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 ]
+markers = {main = "platform_system == \"Windows\"", docs = "platform_system == \"Windows\" or sys_platform == \"win32\"", examples = "platform_system == \"Windows\""}
 
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 [package.dependencies]
@@ -470,6 +526,7 @@ version = "0.12.1"
 description = "Composable style cycles"
 optional = false
 python-versions = ">=3.8"
+groups = ["examples"]
 files = [
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@@ -665,13 +743,14 @@ woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
 name = "identify"
-version = "2.5.36"
+version = "2.6.8"
 description = "File identification library for Python"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
+groups = ["dev"]
 files = [
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 [package.extras]
@@ -679,21 +758,26 @@ license = ["ukkonen"]
 
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 name = "idna"
-version = "3.7"
+version = "3.10"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
+groups = ["main", "dev", "docs", "examples"]
 files = [
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 ]
 
+[package.extras]
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+
 [[package]]
 name = "imagesize"
 version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+groups = ["docs"]
 files = [
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@@ -705,6 +789,7 @@ version = "2.0.0"
 description = "brain-dead simple config-ini parsing"
 optional = false
 python-versions = ">=3.7"
+groups = ["dev"]
 files = [
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@@ -716,6 +801,7 @@ version = "5.13.2"
 description = "A Python utility / library to sort Python imports."
 optional = false
 python-versions = ">=3.8.0"
+groups = ["dev"]
 files = [
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+version = "3.1.5"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
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 [package.dependencies]
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 python-versions = ">=3.8"
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 [[package]]
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 description = "A general math utilities library providing Matrix, Vector, Quaternion, Euler and Color classes, written in C for speed."
 optional = false
 python-versions = "*"
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 ]
 
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 [package.dependencies]
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-typing-extensions = ">=4.1.0"
+typing_extensions = ">=4.6.0"
 
 [package.extras]
 dmypy = ["psutil (>=4.0)"]
+faster-cache = ["orjson"]
 install-types = ["pip"]
 mypyc = ["setuptools (>=50)"]
 reports = ["lxml"]
@@ -1074,6 +1155,7 @@ version = "1.0.0"
 description = "Type system extensions for programs checked with the mypy type checker."
 optional = false
 python-versions = ">=3.5"
+groups = ["dev"]
 files = [
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 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
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 files = [
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@@ -1096,6 +1179,7 @@ version = "0.57.1"
 description = "compiling Python code using LLVM"
 optional = false
 python-versions = ">=3.8"
+groups = ["examples"]
 files = [
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 description = "Fundamental package for array computing in Python"
 optional = false
 python-versions = ">=3.8"
+groups = ["main", "examples"]
 files = [
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@@ -1166,13 +1251,14 @@ files = [
 
 [[package]]
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+version = "1.8.0"
 description = "Sphinx extension to support docstrings in Numpy format"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
+groups = ["docs"]
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 [package.dependencies]
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 [package.extras]
 developer = ["pre-commit (>=3.3)", "tomli"]
-doc = ["matplotlib (>=3.5)", "numpy (>=1.22)", "pydata-sphinx-theme (>=0.13.3)", "sphinx (>=7)"]
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 test = ["matplotlib", "pytest", "pytest-cov"]
 
 [[package]]
 name = "packaging"
-version = "24.1"
+version = "24.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.8"
+groups = ["dev", "docs", "examples"]
 files = [
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 [[package]]
@@ -1202,6 +1289,7 @@ version = "0.12.1"
 description = "Utility library for gitignore style pattern matching of file paths."
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
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+    {file = "pillow-11.1.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:4637b88343166249fe8aa94e7c4a62a180c4b3898283bb5d3d2fd5fe10d8e4e0"},
+    {file = "pillow-11.1.0.tar.gz", hash = "sha256:368da70808b36d73b4b390a8ffac11069f8a5c85f29eff1f1b01bcf3ef5b2a20"},
 ]
 
 [package.extras]
-docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
+docs = ["furo", "olefile", "sphinx (>=8.1)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinxext-opengraph"]
 fpx = ["olefile"]
 mic = ["olefile"]
-tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+tests = ["check-manifest", "coverage (>=7.4.2)", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout", "trove-classifiers (>=2024.10.12)"]
 typing = ["typing-extensions"]
 xmp = ["defusedxml"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.2"
+version = "4.3.6"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
+groups = ["dev", "examples"]
 files = [
-    {file = "platformdirs-4.2.2-py3-none-any.whl", hash = "sha256:2d7a1657e36a80ea911db832a8a6ece5ee53d8de21edd5cc5879af6530b1bfee"},
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+    {file = "platformdirs-4.3.6-py3-none-any.whl", hash = "sha256:73e575e1408ab8103900836b97580d5307456908a03e92031bab39e4554cc3fb"},
+    {file = "platformdirs-4.3.6.tar.gz", hash = "sha256:357fb2acbc885b0419afd3ce3ed34564c13c9b95c89360cd9563f73aa5e2b907"},
 ]
 
 [package.extras]
-docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
-test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
-type = ["mypy (>=1.8)"]
+docs = ["furo (>=2024.8.6)", "proselint (>=0.14)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.4)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=8.3.2)", "pytest-cov (>=5)", "pytest-mock (>=3.14)"]
+type = ["mypy (>=1.11.2)"]
 
 [[package]]
 name = "pluggy"
@@ -1315,6 +1407,7 @@ version = "1.5.0"
 description = "plugin and hook calling mechanisms for python"
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
     {file = "pluggy-1.5.0-py3-none-any.whl", hash = "sha256:44e1ad92c8ca002de6377e165f3e0f1be63266ab4d554740532335b9d75ea669"},
     {file = "pluggy-1.5.0.tar.gz", hash = "sha256:2cffa88e94fdc978c4c574f15f9e59b7f4201d439195c3715ca9e2486f1d0cf1"},
@@ -1330,6 +1423,7 @@ version = "1.8.2"
 description = "A friend to fetch your data files"
 optional = false
 python-versions = ">=3.7"
+groups = ["examples"]
 files = [
     {file = "pooch-1.8.2-py3-none-any.whl", hash = "sha256:3529a57096f7198778a5ceefd5ac3ef0e4d06a6ddaf9fc2d609b806f25302c47"},
     {file = "pooch-1.8.2.tar.gz", hash = "sha256:76561f0de68a01da4df6af38e9955c4c9d1a5c90da73f7e40276a5728ec83d10"},
@@ -1347,13 +1441,14 @@ xxhash = ["xxhash (>=1.4.3)"]
 
 [[package]]
 name = "pre-commit"
-version = "3.7.1"
+version = "3.8.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.9"
+groups = ["dev"]
 files = [
-    {file = "pre_commit-3.7.1-py2.py3-none-any.whl", hash = "sha256:fae36fd1d7ad7d6a5a1c0b0d5adb2ed1a3bda5a21bf6c3e5372073d7a11cd4c5"},
-    {file = "pre_commit-3.7.1.tar.gz", hash = "sha256:8ca3ad567bc78a4972a3f1a477e94a79d4597e8140a6e0b651c5e33899c3654a"},
+    {file = "pre_commit-3.8.0-py2.py3-none-any.whl", hash = "sha256:9a90a53bf82fdd8778d58085faf8d83df56e40dfe18f45b19446e26bf1b3a63f"},
+    {file = "pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af"},
 ]
 
 [package.dependencies]
@@ -1369,6 +1464,8 @@ version = "2.22"
 description = "C parser in Python"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
+markers = "platform_python_implementation == \"PyPy\""
 files = [
     {file = "pycparser-2.22-py3-none-any.whl", hash = "sha256:c3702b6d3dd8c7abc1afa565d7e63d53a1d0bd86cdc24edd75470f4de499cfcc"},
     {file = "pycparser-2.22.tar.gz", hash = "sha256:491c8be9c040f5390f5bf44a5b07752bd07f56edf992381b05c701439eec10f6"},
@@ -1380,6 +1477,7 @@ version = "0.3.2"
 description = "Elastica is a software to simulate the dynamics of filaments that, at every cross-section, can undergo all six possible modes of deformation, allowing the filament to bend, twist, stretch and shear, while interacting with complex environments via muscular activity, surface contact, friction and hydrodynamics."
 optional = false
 python-versions = "<3.12,>=3.8"
+groups = ["examples"]
 files = [
     {file = "pyelastica-0.3.2-py3-none-any.whl", hash = "sha256:35e753f6fa2c346b00149ed7108e796028a726a53edad6d83e73fda681adb646"},
     {file = "pyelastica-0.3.2.tar.gz", hash = "sha256:b9b4c17884474c92ff6b541cd0771278399b6140651823e720ea22252ba89960"},
@@ -1399,13 +1497,14 @@ examples = ["cma (>=3.2.2,<4.0.0)"]
 
 [[package]]
 name = "pygments"
-version = "2.18.0"
+version = "2.19.1"
 description = "Pygments is a syntax highlighting package written in Python."
 optional = false
 python-versions = ">=3.8"
+groups = ["docs"]
 files = [
-    {file = "pygments-2.18.0-py3-none-any.whl", hash = "sha256:b8e6aca0523f3ab76fee51799c488e38782ac06eafcf95e7ba832985c8e7b13a"},
-    {file = "pygments-2.18.0.tar.gz", hash = "sha256:786ff802f32e91311bff3889f6e9a86e81505fe99f2735bb6d60ae0c5004f199"},
+    {file = "pygments-2.19.1-py3-none-any.whl", hash = "sha256:9ea1544ad55cecf4b8242fab6dd35a93bbce657034b0611ee383099054ab6d8c"},
+    {file = "pygments-2.19.1.tar.gz", hash = "sha256:61c16d2a8576dc0649d9f39e089b5f02bcd27fba10d8fb4dcc28173f7a45151f"},
 ]
 
 [package.extras]
@@ -1413,13 +1512,14 @@ windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
 name = "pyparsing"
-version = "3.1.2"
+version = "3.2.1"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
-python-versions = ">=3.6.8"
+python-versions = ">=3.9"
+groups = ["examples"]
 files = [
-    {file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"},
-    {file = "pyparsing-3.1.2.tar.gz", hash = "sha256:a1bac0ce561155ecc3ed78ca94d3c9378656ad4c94c1270de543f621420f94ad"},
+    {file = "pyparsing-3.2.1-py3-none-any.whl", hash = "sha256:506ff4f4386c4cec0590ec19e6302d3aedb992fdc02c761e90416f158dacf8e1"},
+    {file = "pyparsing-3.2.1.tar.gz", hash = "sha256:61980854fd66de3a90028d679a954d5f2623e83144b5afe5ee86f43d762e5f0a"},
 ]
 
 [package.extras]
@@ -1427,13 +1527,14 @@ diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
 name = "pytest"
-version = "8.2.2"
+version = "8.3.4"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
-    {file = "pytest-8.2.2-py3-none-any.whl", hash = "sha256:c434598117762e2bd304e526244f67bf66bbd7b5d6cf22138be51ff661980343"},
-    {file = "pytest-8.2.2.tar.gz", hash = "sha256:de4bb8104e201939ccdc688b27a89a7be2079b22e2bd2b07f806b6ba71117977"},
+    {file = "pytest-8.3.4-py3-none-any.whl", hash = "sha256:50e16d954148559c9a74109af1eaf0c945ba2d8f30f0a3d3335edde19788b6f6"},
+    {file = "pytest-8.3.4.tar.gz", hash = "sha256:965370d062bce11e73868e0335abac31b4d3de0e82f4007408d242b4f8610761"},
 ]
 
 [package.dependencies]
@@ -1441,7 +1542,7 @@ colorama = {version = "*", markers = "sys_platform == \"win32\""}
 exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
 iniconfig = "*"
 packaging = "*"
-pluggy = ">=1.5,<2.0"
+pluggy = ">=1.5,<2"
 tomli = {version = ">=1", markers = "python_version < \"3.11\""}
 
 [package.extras]
@@ -1453,6 +1554,7 @@ version = "5.0.0"
 description = "Pytest plugin for measuring coverage."
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
     {file = "pytest-cov-5.0.0.tar.gz", hash = "sha256:5837b58e9f6ebd335b0f8060eecce69b662415b16dc503883a02f45dfeb14857"},
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@@ -1471,6 +1573,7 @@ version = "3.14.0"
 description = "Thin-wrapper around the mock package for easier use with pytest"
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
     {file = "pytest-mock-3.14.0.tar.gz", hash = "sha256:2719255a1efeceadbc056d6bf3df3d1c5015530fb40cf347c0f9afac88410bd0"},
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@@ -1488,6 +1591,7 @@ version = "2.9.0.post0"
 description = "Extensions to the standard Python datetime module"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
+groups = ["examples"]
 files = [
     {file = "python-dateutil-2.9.0.post0.tar.gz", hash = "sha256:37dd54208da7e1cd875388217d5e00ebd4179249f90fb72437e91a35459a0ad3"},
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@@ -1498,17 +1602,18 @@ six = ">=1.5"
 
 [[package]]
 name = "pyupgrade"
-version = "3.16.0"
+version = "3.19.1"
 description = "A tool to automatically upgrade syntax for newer versions."
 optional = false
-python-versions = ">=3.8.1"
+python-versions = ">=3.9"
+groups = ["dev"]
 files = [
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+    {file = "pyupgrade-3.19.1-py2.py3-none-any.whl", hash = "sha256:8c5b0bfacae5ff30fa136a53eb7f22c34ba007450d4099e9da8089dabb9e67c9"},
+    {file = "pyupgrade-3.19.1.tar.gz", hash = "sha256:d10e8c5f54b8327211828769e98d95d95e4715de632a3414f1eef3f51357b9e2"},
 ]
 
 [package.dependencies]
-tokenize-rt = ">=5.2.0"
+tokenize-rt = ">=6.1.0"
 
 [[package]]
 name = "pyvista"
@@ -1516,6 +1621,7 @@ version = "0.39.1"
 description = "Easier Pythonic interface to VTK"
 optional = false
 python-versions = ">=3.8"
+groups = ["examples"]
 files = [
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@@ -1538,62 +1644,65 @@ trame = ["trame (>=2.2.6)", "trame-client (>=2.4.2)", "trame-server (>=2.8.0)",
 
 [[package]]
 name = "pyyaml"
-version = "6.0.1"
+version = "6.0.2"
 description = "YAML parser and emitter for Python"
 optional = false
-python-versions = ">=3.6"
-files = [
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 [[package]]
@@ -1602,6 +1711,7 @@ version = "2.32.3"
 description = "Python HTTP for Humans."
 optional = false
 python-versions = ">=3.8"
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 [package.dependencies]
-numpy = ">=1.22.4,<2.3"
+numpy = ">=1.23.5,<2.5"
 
 [package.extras]
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 [[package]]
 name = "scooby"
@@ -1665,6 +1797,7 @@ version = "0.10.0"
 description = "A Great Dane turned Python environment detective"
 optional = false
 python-versions = ">=3.8"
+groups = ["examples"]
 files = [
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@@ -1675,13 +1808,14 @@ cpu = ["mkl", "psutil"]
 
 [[package]]
 name = "six"
-version = "1.16.0"
+version = "1.17.0"
 description = "Python 2 and 3 compatibility utilities"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
+groups = ["examples"]
 files = [
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 ]
 
 [[package]]
@@ -1690,6 +1824,7 @@ version = "2.2.0"
 description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
 optional = false
 python-versions = "*"
+groups = ["docs"]
 files = [
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@@ -1697,26 +1832,27 @@ files = [
 
 [[package]]
 name = "sphinx"
-version = "7.3.7"
+version = "7.4.7"
 description = "Python documentation generator"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
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-babel = ">=2.9"
-colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.18.1,<0.22"
+babel = ">=2.13"
+colorama = {version = ">=0.4.6", markers = "sys_platform == \"win32\""}
+docutils = ">=0.20,<0.22"
 imagesize = ">=1.3"
-Jinja2 = ">=3.0"
-packaging = ">=21.0"
-Pygments = ">=2.14"
-requests = ">=2.25.0"
-snowballstemmer = ">=2.0"
+Jinja2 = ">=3.1"
+packaging = ">=23.0"
+Pygments = ">=2.17"
+requests = ">=2.30.0"
+snowballstemmer = ">=2.2"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
 sphinxcontrib-htmlhelp = ">=2.0.0"
@@ -1727,18 +1863,19 @@ tomli = {version = ">=2", markers = "python_version < \"3.11\""}
 
 [package.extras]
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-test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=6.0)", "setuptools (>=67.0)"]
+lint = ["flake8 (>=6.0)", "importlib-metadata (>=6.0)", "mypy (==1.10.1)", "pytest (>=6.0)", "ruff (==0.5.2)", "sphinx-lint (>=0.9)", "tomli (>=2)", "types-docutils (==0.21.0.20240711)", "types-requests (>=2.30.0)"]
+test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=8.0)", "setuptools (>=70.0)", "typing_extensions (>=4.9)"]
 
 [[package]]
 name = "sphinx-autodoc-typehints"
-version = "2.2.2"
+version = "2.3.0"
 description = "Type hints (PEP 484) support for the Sphinx autodoc extension"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
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 ]
 
 [package.dependencies]
@@ -1755,6 +1892,7 @@ version = "6.0.0"
 description = "Sphinx extension that automatically documents click applications"
 optional = false
 python-versions = ">=3.8"
+groups = ["docs"]
 files = [
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@@ -1771,6 +1909,7 @@ version = "2.0.0"
 description = "Read the Docs theme for Sphinx"
 optional = false
 python-versions = ">=3.6"
+groups = ["docs"]
 files = [
     {file = "sphinx_rtd_theme-2.0.0-py2.py3-none-any.whl", hash = "sha256:ec93d0856dc280cf3aee9a4c9807c60e027c7f7b461b77aeffed682e68f0e586"},
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@@ -1786,49 +1925,52 @@ dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.8"
+version = "2.0.0"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
-    {file = "sphinxcontrib_applehelp-1.0.8-py3-none-any.whl", hash = "sha256:cb61eb0ec1b61f349e5cc36b2028e9e7ca765be05e49641c97241274753067b4"},
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+    {file = "sphinxcontrib_applehelp-2.0.0-py3-none-any.whl", hash = "sha256:4cd3f0ec4ac5dd9c17ec65e9ab272c9b867ea77425228e68ecf08d6b28ddbdb5"},
+    {file = "sphinxcontrib_applehelp-2.0.0.tar.gz", hash = "sha256:2f29ef331735ce958efa4734873f084941970894c6090408b079c61b2e1c06d1"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.6"
+version = "2.0.0"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
-    {file = "sphinxcontrib_devhelp-1.0.6-py3-none-any.whl", hash = "sha256:6485d09629944511c893fa11355bda18b742b83a2b181f9a009f7e500595c90f"},
-    {file = "sphinxcontrib_devhelp-1.0.6.tar.gz", hash = "sha256:9893fd3f90506bc4b97bdb977ceb8fbd823989f4316b28c3841ec128544372d3"},
+    {file = "sphinxcontrib_devhelp-2.0.0-py3-none-any.whl", hash = "sha256:aefb8b83854e4b0998877524d1029fd3e6879210422ee3780459e28a1f03a8a2"},
+    {file = "sphinxcontrib_devhelp-2.0.0.tar.gz", hash = "sha256:411f5d96d445d1d73bb5d52133377b4248ec79db5c793ce7dbe59e074b4dd1ad"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.5"
+version = "2.1.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
-    {file = "sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04"},
-    {file = "sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015"},
+    {file = "sphinxcontrib_htmlhelp-2.1.0-py3-none-any.whl", hash = "sha256:166759820b47002d22914d64a075ce08f4c46818e17cfc9470a9786b759b19f8"},
+    {file = "sphinxcontrib_htmlhelp-2.1.0.tar.gz", hash = "sha256:c9e2916ace8aad64cc13a0d233ee22317f2b9025b9cf3295249fa985cc7082e9"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
@@ -1838,6 +1980,7 @@ version = "4.1"
 description = "Extension to include jQuery on newer Sphinx releases"
 optional = false
 python-versions = ">=2.7"
+groups = ["docs"]
 files = [
     {file = "sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a"},
     {file = "sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae"},
@@ -1852,6 +1995,7 @@ version = "1.0.1"
 description = "A sphinx extension which renders display math in HTML via JavaScript"
 optional = false
 python-versions = ">=3.5"
+groups = ["docs"]
 files = [
     {file = "sphinxcontrib-jsmath-1.0.1.tar.gz", hash = "sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8"},
     {file = "sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl", hash = "sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178"},
@@ -1862,33 +2006,35 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.7"
+version = "2.0.0"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
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-    {file = "sphinxcontrib_qthelp-1.0.7.tar.gz", hash = "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6"},
+    {file = "sphinxcontrib_qthelp-2.0.0-py3-none-any.whl", hash = "sha256:b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb"},
+    {file = "sphinxcontrib_qthelp-2.0.0.tar.gz", hash = "sha256:4fe7d0ac8fc171045be623aba3e2a8f613f8682731f9153bb2e40ece16b9bbab"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
-test = ["pytest"]
+test = ["defusedxml (>=0.7.1)", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.10"
+version = "2.0.0"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
+groups = ["docs"]
 files = [
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+    {file = "sphinxcontrib_serializinghtml-2.0.0-py3-none-any.whl", hash = "sha256:6e2cb0eef194e10c27ec0023bfeb25badbbb5868244cf5bc5bdc04e4464bf331"},
+    {file = "sphinxcontrib_serializinghtml-2.0.0.tar.gz", hash = "sha256:e9d912827f872c029017a53f0ef2180b327c3f7fd23c87229f7a8e8b70031d4d"},
 ]
 
 [package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
+lint = ["mypy", "ruff (==0.5.5)", "types-docutils"]
 standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
@@ -1898,6 +2044,7 @@ version = "0.9.0"
 description = "Pretty-print tabular data"
 optional = false
 python-versions = ">=3.7"
+groups = ["docs"]
 files = [
     {file = "tabulate-0.9.0-py3-none-any.whl", hash = "sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f"},
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@@ -1908,42 +2055,77 @@ widechars = ["wcwidth"]
 
 [[package]]
 name = "tokenize-rt"
-version = "5.2.0"
+version = "6.1.0"
 description = "A wrapper around the stdlib `tokenize` which roundtrips."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
+groups = ["dev"]
 files = [
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+    {file = "tokenize_rt-6.1.0-py2.py3-none-any.whl", hash = "sha256:d706141cdec4aa5f358945abe36b911b8cbdc844545da99e811250c0cee9b6fc"},
+    {file = "tokenize_rt-6.1.0.tar.gz", hash = "sha256:e8ee836616c0877ab7c7b54776d2fefcc3bde714449a206762425ae114b53c86"},
 ]
 
 [[package]]
 name = "tomli"
-version = "2.0.1"
+version = "2.2.1"
 description = "A lil' TOML parser"
 optional = false
-python-versions = ">=3.7"
-files = [
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-]
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+groups = ["dev", "docs"]
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+]
+markers = {dev = "python_full_version <= \"3.11.0a6\"", docs = "python_version < \"3.11\""}
 
 [[package]]
 name = "tqdm"
-version = "4.66.4"
+version = "4.67.1"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
+groups = ["examples"]
 files = [
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+    {file = "tqdm-4.67.1-py3-none-any.whl", hash = "sha256:26445eca388f82e72884e0d580d5464cd801a3ea01e63e5601bdff9ba6a48de2"},
+    {file = "tqdm-4.67.1.tar.gz", hash = "sha256:f8aef9c52c08c13a65f30ea34f4e5aac3fd1a34959879d7e59e63027286627f2"},
 ]
 
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [package.extras]
-dev = ["pytest (>=6)", "pytest-cov", "pytest-timeout", "pytest-xdist"]
+dev = ["nbval", "pytest (>=6)", "pytest-asyncio (>=0.24)", "pytest-cov", "pytest-timeout"]
+discord = ["requests"]
 notebook = ["ipywidgets (>=6)"]
 slack = ["slack-sdk"]
 telegram = ["requests"]
@@ -1954,6 +2136,7 @@ version = "4.12.2"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
+groups = ["dev"]
 files = [
     {file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"},
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@@ -1961,13 +2144,14 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.2.2"
+version = "2.3.0"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
+groups = ["main", "dev", "docs", "examples"]
 files = [
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+    {file = "urllib3-2.3.0-py3-none-any.whl", hash = "sha256:1cee9ad369867bfdbbb48b7dd50374c0967a0bb7710050facf0dd6911440e3df"},
+    {file = "urllib3-2.3.0.tar.gz", hash = "sha256:f8c5449b3cf0861679ce7e0503c7b44b5ec981bec0d1d3795a07f1ba96f0204d"},
 ]
 
 [package.extras]
@@ -1978,13 +2162,14 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.3"
+version = "20.29.2"
 description = "Virtual Python Environment builder"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
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+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:2fb4535137de7e244c230e24f9d1ec194f61721c86ebea04e1581d9d06ea1269"},
+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8c24f21fa2af4bb9f2c492a86fe0c34e6d2c63812a839590edaf177b7398f700"},
+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:a8c86881813a78a6f4508ef9daf9d4995b8ac2d147dcb1a450448941398091c9"},
+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_2_i686.whl", hash = "sha256:fe3b385d996ee0822fd46528d9f0443b880d4d05528fd26a9119a54ec3f91c69"},
+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_2_ppc64le.whl", hash = "sha256:82d17e94d735c99621bf8ebf9995f870a6b3e6d14543b99e201ae046dfe7de70"},
+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_2_s390x.whl", hash = "sha256:c7c517d74bea1a6afd39aa612fa025e6b8011982a0897768a2f7c8ab4ebb78a2"},
+    {file = "zstandard-0.23.0-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:1fd7e0f1cfb70eb2f95a19b472ee7ad6d9a0a992ec0ae53286870c104ca939e5"},
+    {file = "zstandard-0.23.0-cp39-cp39-win32.whl", hash = "sha256:43da0f0092281bf501f9c5f6f3b4c975a8a0ea82de49ba3f7100e64d422a1274"},
+    {file = "zstandard-0.23.0-cp39-cp39-win_amd64.whl", hash = "sha256:f8346bfa098532bc1fb6c7ef06783e969d87a99dd1d2a5a18a892c1d7a643c58"},
+    {file = "zstandard-0.23.0.tar.gz", hash = "sha256:b2d8c62d08e7255f68f7a740bae85b3c9b8e5466baa9cbf7f57f1cde0ac6bc09"},
 ]
 
 [package.dependencies]
@@ -2099,6 +2335,6 @@ cffi = {version = ">=1.11", markers = "platform_python_implementation == \"PyPy\
 cffi = ["cffi (>=1.11)"]
 
 [metadata]
-lock-version = "2.0"
+lock-version = "2.1"
 python-versions = "^3.10,<3.12"
 content-hash = "84407b29d82689c2f56da49f4dd1e729702060dd147a5c933c9c9be3ac0a9f4e"
diff --git a/src/bsr/__init__.py b/src/bsr/__init__.py
index 7fccb68..2d3d5e6 100644
--- a/src/bsr/__init__.py
+++ b/src/bsr/__init__.py
@@ -19,8 +19,9 @@
 )
 from .frame import FrameManager
 from .geometry.composite.pose import Pose
-from .geometry.composite.rod import Rod
+from .geometry.composite.rod import Rod, RodWithBox, RodWithCylinder
 from .geometry.composite.stack import RodStack, create_rod_collection
+from .geometry.primitives.pipe import BezierSplinePipe
 from .geometry.primitives.simple import Cylinder, Sphere
 from .viewport import find_area, set_view_distance
 
diff --git a/src/bsr/blender_commands/macros.py b/src/bsr/blender_commands/macros.py
index 91c365c..ed41df6 100644
--- a/src/bsr/blender_commands/macros.py
+++ b/src/bsr/blender_commands/macros.py
@@ -8,6 +8,9 @@ def clear_mesh_objects() -> None:
     bpy.ops.object.select_all(action="DESELECT")
     bpy.ops.object.select_by_type(type="MESH")
     bpy.ops.object.delete()
+    bpy.ops.object.select_all(action="DESELECT")
+    bpy.ops.object.select_by_type(type="CURVE")
+    bpy.ops.object.delete()
 
 
 def scene_update() -> None:
diff --git a/src/bsr/frame.py b/src/bsr/frame.py
index 248e7b1..a3e51b5 100644
--- a/src/bsr/frame.py
+++ b/src/bsr/frame.py
@@ -1,9 +1,13 @@
 from typing import Iterable, Optional
 
+import logging
+
 import bpy
 
 from .utilities.singleton import SingletonMeta
 
+logger = logging.getLogger(__name__)
+
 
 class FrameManager(metaclass=SingletonMeta):
     """
@@ -103,6 +107,7 @@ def frame_end(self, frame: int) -> None:
             isinstance(frame, int) and frame >= 0
         ), "frame must be a nonnegative integer"
         bpy.context.scene.frame_end = frame
+        logger.info(f"Timeline redefined to {frame} frames.")
 
     @property
     def frame_rate(self) -> float:
diff --git a/src/bsr/geometry/composite/rod.py b/src/bsr/geometry/composite/rod.py
index d90fd86..982726f 100644
--- a/src/bsr/geometry/composite/rod.py
+++ b/src/bsr/geometry/composite/rod.py
@@ -1,7 +1,7 @@
 __doc__ = """
 Rod class for creating and updating rods in Blender
 """
-__all__ = ["RodWithSphereAndCylinder", "Rod"]
+__all__ = ["RodWithSphereAndCylinder", "Rod", "RodWithCylinder", "RodWithBox"]
 
 from typing import TYPE_CHECKING, Any
 
@@ -11,7 +11,7 @@
 import numpy as np
 from numpy.typing import NDArray
 
-from bsr.geometry.primitives.simple import Cylinder, Sphere
+from bsr.geometry.primitives.simple import Box, Cylinder, Sphere
 from bsr.geometry.protocol import CompositeProtocol
 from bsr.tools.keyframe_mixin import KeyFrameControlMixin
 
@@ -173,6 +173,153 @@ def update_keyframe(self, keyframe: int) -> None:
             cylinder.update_keyframe(keyframe)
 
 
+class RodWithCylinder(RodWithSphereAndCylinder):
+    """
+    Rod class for managing visualization and rendering in Blender
+
+    This class only creates cylinder objects
+
+    Parameters
+    ----------
+    positions : NDArray
+        The positions of the sphere objects. Expected shape is (n_dim, n_nodes).
+        n_dim = 3
+    radii : NDArray
+        The radii of the sphere objects. Expected shape is (n_nodes-1,).
+
+    """
+
+    input_states = {"positions", "radii"}
+
+    def __init__(self, positions: NDArray, radii: NDArray) -> None:
+        # create cylinder objects
+        self.cylinders: list[Cylinder] = []
+        self._bpy_objs: dict[str, list[bpy.types.Object]] = {
+            "cylinder": self.cylinders,
+        }
+
+        self._build(positions, radii)
+
+    def _build(self, positions: NDArray, radii: NDArray) -> None:
+        for j in range(radii.shape[-1]):
+            cylinder = Cylinder(
+                positions[:, j],
+                positions[:, j + 1],
+                radii[j],
+            )
+            self.cylinders.append(cylinder)
+
+    def update_states(self, positions: NDArray, radii: NDArray) -> None:
+        """
+        Update the states of the rod object
+
+        Parameters
+        ----------
+        positions : NDArray
+            The positions of the sphere objects. Expected shape is (n_nodes, 3).
+        radii : NDArray
+            The radii of the sphere objects. Expected shape is (n_nodes-1,).
+        """
+        # check shape of positions and radii
+        assert positions.ndim == 2, "positions must be 2D array"
+        assert positions.shape[0] == 3, "positions must have 3 rows"
+        assert radii.ndim == 1, "radii must be 1D array"
+        assert (
+            positions.shape[-1] == radii.shape[-1] + 1
+        ), "radii must have n_nodes-1 elements"
+
+        for idx, cylinder in enumerate(self.cylinders):
+            cylinder.update_states(
+                positions[:, idx], positions[:, idx + 1], radii[idx]
+            )
+
+    def set_keyframe(self, keyframe: int) -> None:
+        """
+        Set keyframe for the rod object
+        """
+        for idx, cylinder in enumerate(self.cylinders):
+            cylinder.set_keyframe(keyframe)
+
+
+class RodWithBox(RodWithSphereAndCylinder):
+    """
+    Rod class for managing visualization and rendering in Blender
+
+    This class creates sphere objects to represent position and cube to represent director
+
+    Parameters
+    ----------
+    positions : NDArray
+        The positions of the sphere objects. Expected shape is (n_dim, n_nodes).
+        n_dim = 3
+    radii : NDArray
+        The radii of the sphere objects. Expected shape is (n_nodes-1,).
+
+    """
+
+    input_states = {"positions", "radii", "directors"}
+
+    def __init__(
+        self, positions: NDArray, radii: NDArray, directors: NDArray
+    ) -> None:
+        # create cylinder objects
+        self.boxes: list[Box] = []
+        self._bpy_objs: dict[str, list[bpy.types.Object]] = {
+            "box": self.boxes,
+        }
+
+        self._build(positions, radii, directors)
+
+    def _build(
+        self, positions: NDArray, radii: NDArray, directors: NDArray
+    ) -> None:
+        n_elems = directors.shape[-1]
+        for j in range(n_elems):
+            box = Box(
+                positions[:, j],
+                positions[:, j + 1],
+                radii[j],
+                directors[..., j],
+            )
+            self.boxes.append(box)
+
+    def update_states(
+        self, positions: NDArray, radii: NDArray, directors: NDArray
+    ) -> None:
+        """
+        Update the states of the rod object
+
+        Parameters
+        ----------
+        positions : NDArray
+            The positions of the sphere objects. Expected shape is (n_nodes, 3).
+        radii : NDArray
+            The radii of the sphere objects. Expected shape is (n_nodes-1,).
+        """
+        # check shape of positions and radii
+        assert positions.ndim == 2, "positions must be 2D array"
+        assert positions.shape[0] == 3, "positions must have 3 rows"
+        assert radii.ndim == 1, "radii must be 1D array"
+        assert (
+            positions.shape[-1] == radii.shape[-1] + 1
+        ), "radii must have n_nodes-1 elements"
+
+        for idx, box in enumerate(self.boxes):
+            box.update_states(
+                positions[:, idx],
+                positions[:, idx + 1],
+                radii[idx],
+                directors[..., idx],
+            )
+
+    def set_keyframe(self, keyframe: int) -> None:
+        """
+        Set keyframe for the rod object
+        """
+        for idx, box in enumerate(self.boxes):
+            box.set_keyframe(keyframe)
+
+
 # Alias
 Rod = RodWithSphereAndCylinder
 
diff --git a/src/bsr/geometry/primitives/pipe.py b/src/bsr/geometry/primitives/pipe.py
new file mode 100644
index 0000000..5f9c0b1
--- /dev/null
+++ b/src/bsr/geometry/primitives/pipe.py
@@ -0,0 +1,167 @@
+# TODO: documentation
+__doc__ = """
+"""
+__all__ = ["BezierSplinePipe"]
+
+from typing import TYPE_CHECKING, cast
+
+import warnings
+from numbers import Number
+
+import bpy
+import numpy as np
+from numpy.typing import NDArray
+
+from bsr.geometry.protocol import BlenderMeshInterfaceProtocol, SplineDataType
+from bsr.tools.keyframe_mixin import KeyFrameControlMixin
+
+from .utils import _validate_position, _validate_radii
+
+
+class BezierSplinePipe(KeyFrameControlMixin):
+    """
+    TODO: Documentation
+
+    Parameters
+    ----------
+    positions : NDArray
+        The position of the spline object. (3, n)
+    radii : float
+        The radius of the spline object. (3, n)
+
+    """
+
+    input_states = {"positions", "radii"}
+    name = "bspline"
+
+    def __init__(self, positions: NDArray, radii: NDArray) -> None:
+        """
+        Spline constructor
+        """
+
+        self._obj = self._create_bezier_spline(radii.size)
+        self._obj.name = self.name
+        self.update_states(positions, radii)
+
+    @classmethod
+    def create(cls, states: SplineDataType) -> "BezierSplinePipe":
+        """
+        Basic factory method to create a new spline object.
+        """
+
+        # TODO: Refactor this part: never copy-paste code. Make separate function in utils.py
+        remaining_keys = set(states.keys()) - cls.input_states
+        if len(remaining_keys) > 0:
+            warnings.warn(
+                f"{list(remaining_keys)} are not used as a part of the state definition."
+            )
+        return cls(states["positions"], states["radii"])
+
+    @property
+    def object(self) -> bpy.types.Object:
+        """
+        Access the Blender object.
+        """
+
+        return self._obj
+
+    def update_states(
+        self, positions: NDArray | None = None, radii: float | None = None
+    ) -> None:
+        """
+        Updates the position and radius of the spline object.
+
+        Parameters
+        ----------
+        positioni : NDArray
+            The new position of the spline object.
+        radii : float
+            The new radius of the spline object.
+
+        Raises
+        ------
+        ValueError
+            If the shape of the position or radius is incorrect, or if the data is NaN.
+        """
+
+        spline = self.object.splines[0]
+        if positions is not None:
+            _validate_position(positions)
+            for i, point in enumerate(spline.bezier_points):
+                x, y, z = positions[:, i]
+                point.co = (x, y, z)
+        if radii is not None:
+            _validate_radii(radii)
+            for i, point in enumerate(spline.bezier_points):
+                point.radius = radii[i]
+
+    def _create_bezier_spline(self, number_of_points: int) -> bpy.types.Object:
+        """
+        Creates a new pipe object.
+
+        Parameters
+        ----------
+        number_of_points : int
+            The number of points in the pipe.
+        """
+        # Create a new curve
+        curve_data = bpy.data.curves.new(name="spline_curve", type="CURVE")
+        curve_data.dimensions = "3D"
+
+        spline = curve_data.splines.new(type="BEZIER")
+        spline.bezier_points.add(
+            number_of_points - 1
+        )  # First point is already there
+
+        # Set the spline points and radii
+        for i in range(number_of_points):
+            point = spline.bezier_points[i]
+            point.handle_left_type = point.handle_right_type = "AUTO"
+
+        # Create a new object with the curve data
+        curve_object = bpy.data.objects.new("spline_curve_object", curve_data)
+        curve_object.data.resolution_u = 1
+        bpy.context.collection.objects.link(curve_object)
+
+        # Create a bevel object for the pipe profile
+        bpy.ops.curve.primitive_bezier_circle_add(
+            radius=1,
+            enter_editmode=False,
+            align="WORLD",
+            location=(0, 0, 0),
+            scale=(1, 1, 1),
+        )
+        bevel_circle = bpy.context.object
+        bevel_circle.name = "bevel_circle"
+        # Hide the bevel circle object in the viewport and render
+        bevel_circle.hide_viewport = True
+        bevel_circle.hide_render = True
+
+        # Set the bevel object to the curve
+        curve_data.bevel_mode = "OBJECT"
+        curve_data.bevel_object = bevel_circle
+        curve_data.use_fill_caps = True
+
+        return curve_data
+
+    def update_keyframe(self, keyframe: int) -> None:
+        """
+        Sets a keyframe at the given frame.
+
+        Parameters
+        ----------
+        keyframe : int
+        """
+        spline = self.object.splines[0]
+        for i, point in enumerate(spline.bezier_points):
+            point.keyframe_insert(data_path="co", frame=keyframe)
+            point.keyframe_insert(data_path="radius", frame=keyframe)
+
+
+if TYPE_CHECKING:
+    # This is required for explicit type-checking
+    data = {
+        "positions": np.array([[0, 0, 0], [1, 1, 1]]).T,
+        "radii": np.array([1.0, 1.0]),
+    }
+    _: BlenderMeshInterfaceProtocol = BezierSplinePipe.create(data)
diff --git a/src/bsr/geometry/primitives/simple.py b/src/bsr/geometry/primitives/simple.py
index 67301c4..1b078d5 100644
--- a/src/bsr/geometry/primitives/simple.py
+++ b/src/bsr/geometry/primitives/simple.py
@@ -15,6 +15,13 @@
 from bsr.geometry.protocol import BlenderMeshInterfaceProtocol, MeshDataType
 from bsr.tools.keyframe_mixin import KeyFrameControlMixin
 
+from .utils import (
+    _matrix_to_euler,
+    _validate_position,
+    _validate_radius,
+    _validate_rotation_matrix,
+)
+
 
 def calculate_cylinder_orientation(
     position_1: NDArray, position_2: NDArray
@@ -143,6 +150,7 @@ def create(cls, states: MeshDataType) -> "Sphere":
         If unused keys are present in the dictionary within states
         """
 
+        # TODO: Refactor this part: never copy-paste code. Make separate function in utils.py
         remaining_keys = set(states.keys()) - cls.input_states
         if len(remaining_keys) > 0:
             warnings.warn(
@@ -297,6 +305,7 @@ def create(cls, states: MeshDataType) -> "Cylinder":
         If unused keys are present in the dictionary within states
         """
 
+        # TODO: Refactor this part: never copy-paste code. Make separate function in utils.py
         remaining_keys = set(states.keys()) - cls.input_keys
         if len(remaining_keys) > 0:
             warnings.warn(
@@ -430,6 +439,169 @@ def update_keyframe(self, keyframe: int) -> None:
         self.material.keyframe_insert(data_path="diffuse_color", frame=keyframe)
 
 
+class Box(KeyFrameControlMixin):
+    """
+    This class provides a mesh interface for Blender Box objects.
+    Box objects are created with the given positions, radius, and rotation matrix.
+
+    Parameters
+    ----------
+    position_1 : NDArray
+        The first position of the box object. (3D)
+    position_2 : NDArray
+        The second position of the box object. (3D)
+    radius : float
+        The width of the box object (in the direction of the first row of the rotation matrix).
+    rotation_matrix : NDArray
+        A 3x3 rotation matrix to determine the orientation of the box.
+    """
+
+    input_keys = {"position_1", "position_2", "radius", "rotation_matrix"}
+
+    def __init__(
+        self,
+        position_1: NDArray,
+        position_2: NDArray,
+        radius: float,
+        rotation_matrix: NDArray,
+    ) -> None:
+        """
+        Box class constructor
+        """
+
+        self._obj = self._create_box()
+        # FIXME: This is a temporary solution
+        # Ideally, these modules should not contain any data
+        self._states_position_1 = position_1
+        self._states_position_2 = position_2
+        self._states_radius = radius
+        self._states_rotation_matrix = rotation_matrix
+        self.update_states(position_1, position_2, radius, rotation_matrix)
+
+    @classmethod
+    def create(cls, states: MeshDataType) -> "Box":
+        """
+        Basic factory method to create a new Box object.
+        """
+
+        remaining_keys = set(states.keys()) - cls.input_keys
+        if len(remaining_keys) > 0:
+            warnings.warn(
+                f"{list(remaining_keys)} are not used as a part of the state definition."
+            )
+        return cls(
+            states["position_1"],
+            states["position_2"],
+            states["radius"],
+            states["rotation_matrix"],
+        )
+
+    @property
+    def object(self) -> bpy.types.Object:
+        """
+        Access the Blender object.
+        """
+
+        return self._obj
+
+    def update_states(
+        self,
+        position_1: NDArray | None = None,
+        position_2: NDArray | None = None,
+        radius: float | None = None,
+        rotation_matrix: NDArray | None = None,
+    ) -> None:
+        """
+        Updates the positions, radius, and rotation matrix of the box object.
+
+        Parameters
+        ----------
+        position_1 : NDArray
+            The first new position of the box object.
+        position_2 : NDArray
+            The second new position of the box object.
+        radius : float
+            The new radius (width) of the box object.
+        rotation_matrix : NDArray
+            The new 3x3 rotation matrix to determine the orientation of the box.
+
+        Raises
+        ------
+        ValueError
+            If the shape of the positions, radius, or rotation matrix is incorrect, or if the data is NaN.
+        """
+        if (
+            position_1 is None
+            and position_2 is None
+            and radius is None
+            and rotation_matrix is None
+        ):
+            return
+        if position_1 is not None:
+            position_1 = cast(NDArray[np.floating], position_1)
+            _validate_position(position_1)
+            self._states_position_1 = position_1
+        else:
+            position_1 = self._states_position_1
+        if position_2 is not None:
+            position_2 = cast(NDArray[np.floating], position_2)
+            _validate_position(position_2)
+            self._states_position_2 = position_2
+        else:
+            position_2 = self._states_position_2
+        if radius is not None:
+            _validate_radius(radius)
+            self._states_radius = radius
+        else:
+            radius = self._states_radius
+        if rotation_matrix is not None:
+            _validate_rotation_matrix(rotation_matrix)
+            self._states_rotation_matrix = rotation_matrix
+        else:
+            rotation_matrix = self._states_rotation_matrix
+
+        # Validation check
+        if np.allclose(position_1, position_2):
+            raise ValueError(
+                f"Two positions must be different: {(position_1 - position_2)=}"
+            )
+
+        length_vector = position_2 - position_1
+        length = np.linalg.norm(length_vector)
+        center = (position_1 + position_2) / 2
+
+        # Set object location, rotation and scale
+        self.object.location = center
+        self.object.rotation_euler = _matrix_to_euler(rotation_matrix)
+        self.object.scale[0] = radius * 2  # Width
+        self.object.scale[1] = radius  # Depth
+        self.object.scale[2] = length  # Length
+
+    def _create_box(
+        self,
+    ) -> bpy.types.Object:
+        """
+        Creates a new box object.
+        """
+        bpy.ops.mesh.primitive_cube_add(
+            size=1.0,
+        )  # Fix keep these values as default.
+        box = bpy.context.active_object
+        return box
+
+    def set_keyframe(self, keyframe: int) -> None:
+        """
+        Sets a keyframe at the given frame.
+
+        Parameters
+        ----------
+        keyframe : int
+        """
+        self.object.keyframe_insert(data_path="location", frame=keyframe)
+        self.object.keyframe_insert(data_path="rotation_euler", frame=keyframe)
+        self.object.keyframe_insert(data_path="scale", frame=keyframe)
+
+
 # TODO: Will be implemented in the future
 class Frustum(KeyFrameControlMixin):  # pragma: no cover
     """
diff --git a/src/bsr/geometry/primitives/utils.py b/src/bsr/geometry/primitives/utils.py
new file mode 100644
index 0000000..c57f80b
--- /dev/null
+++ b/src/bsr/geometry/primitives/utils.py
@@ -0,0 +1,108 @@
+from numbers import Number
+
+import numpy as np
+from numba import njit
+from numpy.typing import NDArray
+from scipy.spatial.transform import Rotation
+
+
+# @njit(cache=True)
+def _matrix_to_euler(matrix: NDArray) -> NDArray:
+    """
+    Converts a rotation matrices to Euler angles
+
+    Parameters
+    ----------
+    matrix: NDArray
+        A batch of rotation matrices. Given row-wise)
+
+    Returns
+    -------
+    NDArray
+        A batch of Euler angles
+    """
+    R = Rotation.from_matrix(matrix.T)
+    euler = R.as_euler("xyz")
+    return euler
+
+
+def _validate_position(position: NDArray) -> None:
+    """
+    Checks if inputted position values are valid
+
+    Paramters
+    ---------
+    position: NDArray
+        Position input (endpoint or centerpoint depending on Object type)
+
+    Raises
+    ------
+    ValueError
+        If the position is the wrong shape or contains NaN values
+    """
+
+    if position.shape[0] != 3:
+        raise ValueError("The shape of the position is incorrect.")
+    if np.isnan(position).any():
+        raise ValueError("The position contains NaN values.")
+
+
+def _validate_radius(radius: float) -> None:
+    """
+    Checks if inputted radius value is valid
+
+    Parameters:
+    -----------
+    radius: Float
+        Radius input
+
+    Raises
+    ------
+    ValueError
+        If the radius is not positive, or contains NaN values
+    """
+
+    if not isinstance(radius, Number) or radius <= 0:
+        raise ValueError("The radius must be a positive float.")
+    if np.isnan(radius):
+        raise ValueError("The radius contains NaN values.")
+
+
+def _validate_radii(radii: NDArray) -> None:
+    """
+    Checks if inputted radius value is valid
+
+    Parameters:
+    -----------
+    radii: NDArray
+        Radius input
+
+    Raises
+    ------
+    ValueError
+        If the radius is not positive, or contains NaN values
+    """
+
+    if (radii <= 0).any():
+        raise ValueError("The radius must be a positive float.")
+    if np.isnan(radii).any():
+        raise ValueError("The radius contains NaN values.")
+
+
+def _validate_rotation_matrix(director: NDArray) -> None:
+    """
+    Checks if inputted rotation matrix is valid
+
+    Parameters:
+    -----------
+    director: NDArray
+        Rotation matrix input
+
+    Raises
+    ------
+    ValueError
+        If the rotation matrix is not a 3x3 matrix, or contains NaN values
+    """
+
+    if np.isnan(director).any():
+        raise ValueError("The director contains NaN values.")
diff --git a/src/bsr/geometry/protocol.py b/src/bsr/geometry/protocol.py
index cf4ba2e..76a96cb 100644
--- a/src/bsr/geometry/protocol.py
+++ b/src/bsr/geometry/protocol.py
@@ -30,6 +30,7 @@
 from bsr.tools.protocol import BlenderKeyframeManipulateProtocol
 
 MeshDataType: TypeAlias = dict[str, Any]
+SplineDataType: TypeAlias = dict[str, Any]
 S = TypeVar("S", bound="BlenderMeshInterfaceProtocol")
 
 
diff --git a/tests/geometry/test_primitive_pipe_mesh.py b/tests/geometry/test_primitive_pipe_mesh.py
new file mode 100644
index 0000000..4fe607b
--- /dev/null
+++ b/tests/geometry/test_primitive_pipe_mesh.py
@@ -0,0 +1,3 @@
+import pytest
+
+# TODO: Add geometry test for BezierSplinePipe, similar to test_primitive_geometry_mesh.py
diff --git a/tests/geometry/test_spline_primitives.py b/tests/geometry/test_spline_primitives.py
new file mode 100644
index 0000000..d778035
--- /dev/null
+++ b/tests/geometry/test_spline_primitives.py
@@ -0,0 +1,110 @@
+import bpy.types as bpy_types
+import numpy as np
+import pytest
+
+from bsr.geometry.primitives.pipe import BezierSplinePipe
+
+
+@pytest.fixture
+def default_data():
+    return dict(
+        positions=np.array([[0, 0, 0], [1, 1, 1]]).T,
+        radii=np.array([1, 1]),
+    )
+
+
+def assert_bezier_positions(spline, positions):
+    spline_positions = np.asarray(
+        [list(point.co) for point in spline.bezier_points]
+    ).T
+    np.testing.assert_array_almost_equal(spline_positions, positions)
+
+
+def assert_bezier_radii(spline, radii):
+    spline_radii = np.asarray([point.radius for point in spline.bezier_points])
+    np.testing.assert_array_almost_equal(spline_radii, radii)
+
+
+@pytest.mark.parametrize(
+    "possible_bezier_spline_data",
+    [
+        # TODO:
+        dict(),  # Empty dictionary
+        dict(
+            positions=np.array([[0, 0, 0], [1, 1, 2]]).T, radii=np.array([1, 2])
+        ),  # Change both positions and radii
+        dict(radii=np.array([1, 2])),  # Change only radii
+        dict(
+            positions=np.array([[0, 0, 0], [1, 1, 2]]).T
+        ),  # Change only positions
+    ],
+)
+def test_update_states_with_data(default_data, possible_bezier_spline_data):
+    primitive = BezierSplinePipe.create(default_data)
+    assert primitive.object is not None
+
+    # check if create primitive has corresponding "default_data" geometry
+    if "positions" in possible_bezier_spline_data:
+        assert_bezier_positions(
+            primitive.object.splines[0], default_data["positions"]
+        )
+    if "radii" in possible_bezier_spline_data:
+        assert_bezier_radii(primitive.object.splines[0], default_data["radii"])
+
+    # Run update_states without error
+    primitive.update_states(**possible_bezier_spline_data)
+    default_data.update(possible_bezier_spline_data)  # Update state dictionary
+
+    # check if create primitive has updated geometry
+    if "positions" in possible_bezier_spline_data:
+        assert_bezier_positions(
+            primitive.object.splines[0],
+            possible_bezier_spline_data["positions"],
+        )
+    if "radii" in possible_bezier_spline_data:
+        assert_bezier_radii(
+            primitive.object.splines[0], possible_bezier_spline_data["radii"]
+        )
+
+
+@pytest.mark.parametrize(
+    "impossible_shaped_data",
+    [
+        # Test with impossible shape. Make sure to test impossible radii (negative or zero), and different shape)
+        dict(radii=np.array([1, -1, 3])),
+        dict(radii=np.array([0])),
+    ],
+)
+def test_update_states_with_wrong_shape(default_data, impossible_shaped_data):
+    primitive = BezierSplinePipe.create(default_data)
+    with pytest.raises(ValueError):
+        primitive.update_states(**impossible_shaped_data)
+
+
+@pytest.mark.parametrize(
+    "nan_data",
+    [
+        dict(
+            positions=np.array([[np.nan, 0, 0], [1, 1, 1]]).T
+        ),  # nan in position data
+        dict(radii=np.array([1, np.nan])),  # nan in radii data
+    ],
+)
+def test_update_states_with_nan_values(default_data, nan_data):
+    primitive = BezierSplinePipe.create(default_data)
+    with pytest.raises(ValueError) as exc_info:
+        primitive.update_states(**nan_data)
+    assert "contains NaN" in str(exc_info.value)
+
+
+def test_bezier_spline_creator(
+    default_data,
+):
+    primitive = BezierSplinePipe.create(default_data)
+    old_bezier_spline = primitive.object
+    new_bezier_spline = primitive._create_bezier_spline(
+        len(default_data["radii"])
+    )
+    assert new_bezier_spline is not None
+    assert old_bezier_spline is not new_bezier_spline
+    assert isinstance(new_bezier_spline, bpy_types.Curve)
diff --git a/tests/geometry/utils.py b/tests/geometry/utils.py
index 163b919..19e3b87 100644
--- a/tests/geometry/utils.py
+++ b/tests/geometry/utils.py
@@ -7,8 +7,13 @@
 
 def get_mesh_limit(interface: BlenderMeshInterfaceProtocol):
     """(For testing) Given blender mesh object, return xyz limit"""
-
     obj = interface.object
+
+    if obj.type == "CURVE":
+        bpy.ops.object.select_all(action="DESELECT")
+        obj.select_set(True)
+        bpy.ops.object.convert(target="MESH")
+
     scene_update()
 
     vertices_coords = []