diff --git a/.buildinfo b/.buildinfo
index 62a8e587..a566571c 100644
--- a/.buildinfo
+++ b/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 4f37ffca30aa3d7141050d0c7b599c4d
+config: e39bc70d8dbdff6ca620cc5682fa9567
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html b/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html
index 85ad18ab..616e695e 100644
--- a/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html
+++ b/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html b/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html
index 0575e69d..87922417 100644
--- a/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html
+++ b/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html
@@ -7,6 +7,7 @@
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       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/PathPlanning/BSplinePath/bspline_path.html b/_modules/PathPlanning/BSplinePath/bspline_path.html
index 9906be05..b9c1cfc1 100644
--- a/_modules/PathPlanning/BSplinePath/bspline_path.html
+++ b/_modules/PathPlanning/BSplinePath/bspline_path.html
@@ -7,6 +7,7 @@
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       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html b/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html
index dbb88336..f8aed0f9 100644
--- a/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html
+++ b/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html
@@ -7,6 +7,7 @@
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       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/PathPlanning/DubinsPath/dubins_path_planner.html b/_modules/PathPlanning/DubinsPath/dubins_path_planner.html
index 82768ebf..6e2c614d 100644
--- a/_modules/PathPlanning/DubinsPath/dubins_path_planner.html
+++ b/_modules/PathPlanning/DubinsPath/dubins_path_planner.html
@@ -7,6 +7,7 @@
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       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/index.html b/_modules/index.html
index 8d38eb2b..883e2446 100644
--- a/_modules/index.html
+++ b/_modules/index.html
@@ -7,6 +7,7 @@
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       <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../_static/jquery.js"></script>
         <script src="../_static/underscore.js"></script>
         <script src="../_static/doctools.js"></script>
+        <script src="../_static/clipboard.min.js"></script>
+        <script src="../_static/copybutton.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
diff --git a/_modules/utils/plot.html b/_modules/utils/plot.html
index 54b5b090..7a7fb478 100644
--- a/_modules/utils/plot.html
+++ b/_modules/utils/plot.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
diff --git a/_static/check-solid.svg b/_static/check-solid.svg
new file mode 100644
index 00000000..92fad4b5
--- /dev/null
+++ b/_static/check-solid.svg
@@ -0,0 +1,4 @@
+<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-check" width="44" height="44" viewBox="0 0 24 24" stroke-width="2" stroke="#22863a" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <path d="M5 12l5 5l10 -10" />
+</svg>
diff --git a/_static/clipboard.min.js b/_static/clipboard.min.js
new file mode 100644
index 00000000..54b3c463
--- /dev/null
+++ b/_static/clipboard.min.js
@@ -0,0 +1,7 @@
+/*!
+ * clipboard.js v2.0.8
+ * https://clipboardjs.com/
+ *
+ * Licensed MIT © Zeno Rocha
+ */
+!function(t,e){"object"==typeof exports&&"object"==typeof module?module.exports=e():"function"==typeof define&&define.amd?define([],e):"object"==typeof exports?exports.ClipboardJS=e():t.ClipboardJS=e()}(this,function(){return n={686:function(t,e,n){"use strict";n.d(e,{default:function(){return o}});var e=n(279),i=n.n(e),e=n(370),u=n.n(e),e=n(817),c=n.n(e);function a(t){try{return document.execCommand(t)}catch(t){return}}var f=function(t){t=c()(t);return a("cut"),t};var l=function(t){var e,n,o,r=1<arguments.length&&void 0!==arguments[1]?arguments[1]:{container:document.body},i="";return"string"==typeof t?(e=t,n="rtl"===document.documentElement.getAttribute("dir"),(o=document.createElement("textarea")).style.fontSize="12pt",o.style.border="0",o.style.padding="0",o.style.margin="0",o.style.position="absolute",o.style[n?"right":"left"]="-9999px",n=window.pageYOffset||document.documentElement.scrollTop,o.style.top="".concat(n,"px"),o.setAttribute("readonly",""),o.value=e,o=o,r.container.appendChild(o),i=c()(o),a("copy"),o.remove()):(i=c()(t),a("copy")),i};function r(t){return(r="function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?function(t){return typeof t}:function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t})(t)}var s=function(){var t=0<arguments.length&&void 0!==arguments[0]?arguments[0]:{},e=t.action,n=void 0===e?"copy":e,o=t.container,e=t.target,t=t.text;if("copy"!==n&&"cut"!==n)throw new Error('Invalid "action" value, use either "copy" or "cut"');if(void 0!==e){if(!e||"object"!==r(e)||1!==e.nodeType)throw new Error('Invalid "target" value, use a valid Element');if("copy"===n&&e.hasAttribute("disabled"))throw new Error('Invalid "target" attribute. 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diff --git a/_static/copy-button.svg b/_static/copy-button.svg
new file mode 100644
index 00000000..9c074dae
--- /dev/null
+++ b/_static/copy-button.svg
@@ -0,0 +1,5 @@
+<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-copy" width="44" height="44" viewBox="0 0 24 24" stroke-width="1.5" stroke="#000000" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <rect x="8" y="8" width="12" height="12" rx="2" />
+  <path d="M16 8v-2a2 2 0 0 0 -2 -2h-8a2 2 0 0 0 -2 2v8a2 2 0 0 0 2 2h2" />
+</svg>
diff --git a/_static/copybutton.css b/_static/copybutton.css
new file mode 100644
index 00000000..f1916ec7
--- /dev/null
+++ b/_static/copybutton.css
@@ -0,0 +1,94 @@
+/* Copy buttons */
+button.copybtn {
+    position: absolute;
+    display: flex;
+    top: .3em;
+    right: .3em;
+    width: 1.7em;
+    height: 1.7em;
+	opacity: 0;
+    transition: opacity 0.3s, border .3s, background-color .3s;
+    user-select: none;
+    padding: 0;
+    border: none;
+    outline: none;
+    border-radius: 0.4em;
+    /* The colors that GitHub uses */
+    border: #1b1f2426 1px solid;
+    background-color: #f6f8fa;
+    color: #57606a;
+}
+
+button.copybtn.success {
+    border-color: #22863a;
+    color: #22863a;
+}
+
+button.copybtn svg {
+    stroke: currentColor;
+    width: 1.5em;
+    height: 1.5em;
+    padding: 0.1em;
+}
+
+div.highlight  {
+    position: relative;
+}
+
+/* Show the copybutton */
+.highlight:hover button.copybtn, button.copybtn.success {
+	opacity: 1;
+}
+
+.highlight button.copybtn:hover {
+    background-color: rgb(235, 235, 235);
+}
+
+.highlight button.copybtn:active {
+    background-color: rgb(187, 187, 187);
+}
+
+/**
+ * A minimal CSS-only tooltip copied from:
+ *   https://codepen.io/mildrenben/pen/rVBrpK
+ *
+ * To use, write HTML like the following:
+ *
+ * <p class="o-tooltip--left" data-tooltip="Hey">Short</p>
+ */
+ .o-tooltip--left {
+  position: relative;
+ }
+
+ .o-tooltip--left:after {
+    opacity: 0;
+    visibility: hidden;
+    position: absolute;
+    content: attr(data-tooltip);
+    padding: .2em;
+    font-size: .8em;
+    left: -.2em;
+    background: grey;
+    color: white;
+    white-space: nowrap;
+    z-index: 2;
+    border-radius: 2px;
+    transform: translateX(-102%) translateY(0);
+    transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1);
+}
+
+.o-tooltip--left:hover:after {
+    display: block;
+    opacity: 1;
+    visibility: visible;
+    transform: translateX(-100%) translateY(0);
+    transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1);
+    transition-delay: .5s;
+}
+
+/* By default the copy button shouldn't show up when printing a page */
+@media print {
+    button.copybtn {
+        display: none;
+    }
+}
diff --git a/_static/copybutton.js b/_static/copybutton.js
new file mode 100644
index 00000000..2ea7ff3e
--- /dev/null
+++ b/_static/copybutton.js
@@ -0,0 +1,248 @@
+// Localization support
+const messages = {
+  'en': {
+    'copy': 'Copy',
+    'copy_to_clipboard': 'Copy to clipboard',
+    'copy_success': 'Copied!',
+    'copy_failure': 'Failed to copy',
+  },
+  'es' : {
+    'copy': 'Copiar',
+    'copy_to_clipboard': 'Copiar al portapapeles',
+    'copy_success': '¡Copiado!',
+    'copy_failure': 'Error al copiar',
+  },
+  'de' : {
+    'copy': 'Kopieren',
+    'copy_to_clipboard': 'In die Zwischenablage kopieren',
+    'copy_success': 'Kopiert!',
+    'copy_failure': 'Fehler beim Kopieren',
+  },
+  'fr' : {
+    'copy': 'Copier',
+    'copy_to_clipboard': 'Copier dans le presse-papier',
+    'copy_success': 'Copié !',
+    'copy_failure': 'Échec de la copie',
+  },
+  'ru': {
+    'copy': 'Скопировать',
+    'copy_to_clipboard': 'Скопировать в буфер',
+    'copy_success': 'Скопировано!',
+    'copy_failure': 'Не удалось скопировать',
+  },
+  'zh-CN': {
+    'copy': '复制',
+    'copy_to_clipboard': '复制到剪贴板',
+    'copy_success': '复制成功!',
+    'copy_failure': '复制失败',
+  },
+  'it' : {
+    'copy': 'Copiare',
+    'copy_to_clipboard': 'Copiato negli appunti',
+    'copy_success': 'Copiato!',
+    'copy_failure': 'Errore durante la copia',
+  }
+}
+
+let locale = 'en'
+if( document.documentElement.lang !== undefined
+    && messages[document.documentElement.lang] !== undefined ) {
+  locale = document.documentElement.lang
+}
+
+let doc_url_root = DOCUMENTATION_OPTIONS.URL_ROOT;
+if (doc_url_root == '#') {
+    doc_url_root = '';
+}
+
+/**
+ * SVG files for our copy buttons
+ */
+let iconCheck = `<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-check" width="44" height="44" viewBox="0 0 24 24" stroke-width="2" stroke="#22863a" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <title>${messages[locale]['copy_success']}</title>
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <path d="M5 12l5 5l10 -10" />
+</svg>`
+
+// If the user specified their own SVG use that, otherwise use the default
+let iconCopy = ``;
+if (!iconCopy) {
+  iconCopy = `<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-copy" width="44" height="44" viewBox="0 0 24 24" stroke-width="1.5" stroke="#000000" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <title>${messages[locale]['copy_to_clipboard']}</title>
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <rect x="8" y="8" width="12" height="12" rx="2" />
+  <path d="M16 8v-2a2 2 0 0 0 -2 -2h-8a2 2 0 0 0 -2 2v8a2 2 0 0 0 2 2h2" />
+</svg>`
+}
+
+/**
+ * Set up copy/paste for code blocks
+ */
+
+const runWhenDOMLoaded = cb => {
+  if (document.readyState != 'loading') {
+    cb()
+  } else if (document.addEventListener) {
+    document.addEventListener('DOMContentLoaded', cb)
+  } else {
+    document.attachEvent('onreadystatechange', function() {
+      if (document.readyState == 'complete') cb()
+    })
+  }
+}
+
+const codeCellId = index => `codecell${index}`
+
+// Clears selected text since ClipboardJS will select the text when copying
+const clearSelection = () => {
+  if (window.getSelection) {
+    window.getSelection().removeAllRanges()
+  } else if (document.selection) {
+    document.selection.empty()
+  }
+}
+
+// Changes tooltip text for a moment, then changes it back
+// We want the timeout of our `success` class to be a bit shorter than the
+// tooltip and icon change, so that we can hide the icon before changing back.
+var timeoutIcon = 2000;
+var timeoutSuccessClass = 1500;
+
+const temporarilyChangeTooltip = (el, oldText, newText) => {
+  el.setAttribute('data-tooltip', newText)
+  el.classList.add('success')
+  // Remove success a little bit sooner than we change the tooltip
+  // So that we can use CSS to hide the copybutton first
+  setTimeout(() => el.classList.remove('success'), timeoutSuccessClass)
+  setTimeout(() => el.setAttribute('data-tooltip', oldText), timeoutIcon)
+}
+
+// Changes the copy button icon for two seconds, then changes it back
+const temporarilyChangeIcon = (el) => {
+  el.innerHTML = iconCheck;
+  setTimeout(() => {el.innerHTML = iconCopy}, timeoutIcon)
+}
+
+const addCopyButtonToCodeCells = () => {
+  // If ClipboardJS hasn't loaded, wait a bit and try again. This
+  // happens because we load ClipboardJS asynchronously.
+  if (window.ClipboardJS === undefined) {
+    setTimeout(addCopyButtonToCodeCells, 250)
+    return
+  }
+
+  // Add copybuttons to all of our code cells
+  const COPYBUTTON_SELECTOR = 'div.highlight pre';
+  const codeCells = document.querySelectorAll(COPYBUTTON_SELECTOR)
+  codeCells.forEach((codeCell, index) => {
+    const id = codeCellId(index)
+    codeCell.setAttribute('id', id)
+
+    const clipboardButton = id =>
+    `<button class="copybtn o-tooltip--left" data-tooltip="${messages[locale]['copy']}" data-clipboard-target="#${id}">
+      ${iconCopy}
+    </button>`
+    codeCell.insertAdjacentHTML('afterend', clipboardButton(id))
+  })
+
+function escapeRegExp(string) {
+    return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+}
+
+/**
+ * Removes excluded text from a Node.
+ *
+ * @param {Node} target Node to filter.
+ * @param {string} exclude CSS selector of nodes to exclude.
+ * @returns {DOMString} Text from `target` with text removed.
+ */
+function filterText(target, exclude) {
+    const clone = target.cloneNode(true);  // clone as to not modify the live DOM
+    if (exclude) {
+        // remove excluded nodes
+        clone.querySelectorAll(exclude).forEach(node => node.remove());
+    }
+    return clone.innerText;
+}
+
+// Callback when a copy button is clicked. Will be passed the node that was clicked
+// should then grab the text and replace pieces of text that shouldn't be used in output
+function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") {
+    var regexp;
+    var match;
+
+    // Do we check for line continuation characters and "HERE-documents"?
+    var useLineCont = !!lineContinuationChar
+    var useHereDoc = !!hereDocDelim
+
+    // create regexp to capture prompt and remaining line
+    if (isRegexp) {
+        regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)')
+    } else {
+        regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)')
+    }
+
+    const outputLines = [];
+    var promptFound = false;
+    var gotLineCont = false;
+    var gotHereDoc = false;
+    const lineGotPrompt = [];
+    for (const line of textContent.split('\n')) {
+        match = line.match(regexp)
+        if (match || gotLineCont || gotHereDoc) {
+            promptFound = regexp.test(line)
+            lineGotPrompt.push(promptFound)
+            if (removePrompts && promptFound) {
+                outputLines.push(match[2])
+            } else {
+                outputLines.push(line)
+            }
+            gotLineCont = line.endsWith(lineContinuationChar) & useLineCont
+            if (line.includes(hereDocDelim) & useHereDoc)
+                gotHereDoc = !gotHereDoc
+        } else if (!onlyCopyPromptLines) {
+            outputLines.push(line)
+        } else if (copyEmptyLines && line.trim() === '') {
+            outputLines.push(line)
+        }
+    }
+
+    // If no lines with the prompt were found then just use original lines
+    if (lineGotPrompt.some(v => v === true)) {
+        textContent = outputLines.join('\n');
+    }
+
+    // Remove a trailing newline to avoid auto-running when pasting
+    if (textContent.endsWith("\n")) {
+        textContent = textContent.slice(0, -1)
+    }
+    return textContent
+}
+
+
+var copyTargetText = (trigger) => {
+  var target = document.querySelector(trigger.attributes['data-clipboard-target'].value);
+
+  // get filtered text
+  let exclude = '.linenos';
+
+  let text = filterText(target, exclude);
+  return formatCopyText(text, '', false, true, true, true, '', '')
+}
+
+  // Initialize with a callback so we can modify the text before copy
+  const clipboard = new ClipboardJS('.copybtn', {text: copyTargetText})
+
+  // Update UI with error/success messages
+  clipboard.on('success', event => {
+    clearSelection()
+    temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_success'])
+    temporarilyChangeIcon(event.trigger)
+  })
+
+  clipboard.on('error', event => {
+    temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_failure'])
+  })
+}
+
+runWhenDOMLoaded(addCopyButtonToCodeCells)
\ No newline at end of file
diff --git a/_static/copybutton_funcs.js b/_static/copybutton_funcs.js
new file mode 100644
index 00000000..dbe1aaad
--- /dev/null
+++ b/_static/copybutton_funcs.js
@@ -0,0 +1,73 @@
+function escapeRegExp(string) {
+    return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+}
+
+/**
+ * Removes excluded text from a Node.
+ *
+ * @param {Node} target Node to filter.
+ * @param {string} exclude CSS selector of nodes to exclude.
+ * @returns {DOMString} Text from `target` with text removed.
+ */
+export function filterText(target, exclude) {
+    const clone = target.cloneNode(true);  // clone as to not modify the live DOM
+    if (exclude) {
+        // remove excluded nodes
+        clone.querySelectorAll(exclude).forEach(node => node.remove());
+    }
+    return clone.innerText;
+}
+
+// Callback when a copy button is clicked. Will be passed the node that was clicked
+// should then grab the text and replace pieces of text that shouldn't be used in output
+export function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") {
+    var regexp;
+    var match;
+
+    // Do we check for line continuation characters and "HERE-documents"?
+    var useLineCont = !!lineContinuationChar
+    var useHereDoc = !!hereDocDelim
+
+    // create regexp to capture prompt and remaining line
+    if (isRegexp) {
+        regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)')
+    } else {
+        regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)')
+    }
+
+    const outputLines = [];
+    var promptFound = false;
+    var gotLineCont = false;
+    var gotHereDoc = false;
+    const lineGotPrompt = [];
+    for (const line of textContent.split('\n')) {
+        match = line.match(regexp)
+        if (match || gotLineCont || gotHereDoc) {
+            promptFound = regexp.test(line)
+            lineGotPrompt.push(promptFound)
+            if (removePrompts && promptFound) {
+                outputLines.push(match[2])
+            } else {
+                outputLines.push(line)
+            }
+            gotLineCont = line.endsWith(lineContinuationChar) & useLineCont
+            if (line.includes(hereDocDelim) & useHereDoc)
+                gotHereDoc = !gotHereDoc
+        } else if (!onlyCopyPromptLines) {
+            outputLines.push(line)
+        } else if (copyEmptyLines && line.trim() === '') {
+            outputLines.push(line)
+        }
+    }
+
+    // If no lines with the prompt were found then just use original lines
+    if (lineGotPrompt.some(v => v === true)) {
+        textContent = outputLines.join('\n');
+    }
+
+    // Remove a trailing newline to avoid auto-running when pasting
+    if (textContent.endsWith("\n")) {
+        textContent = textContent.slice(0, -1)
+    }
+    return textContent
+}
diff --git a/genindex.html b/genindex.html
index 9d8212ae..ee93118c 100644
--- a/genindex.html
+++ b/genindex.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="#" />
     <link rel="search" title="Search" href="search.html" /> 
diff --git a/getting_started.html b/getting_started.html
index e8fd45da..3f1e98c5 100644
--- a/getting_started.html
+++ b/getting_started.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
diff --git a/how_to_contribute.html b/how_to_contribute.html
index 23a1d42c..70ffa646 100644
--- a/how_to_contribute.html
+++ b/how_to_contribute.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
diff --git a/index.html b/index.html
index aa191265..d9003944 100644
--- a/index.html
+++ b/index.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
diff --git a/modules/aerial_navigation/aerial_navigation.html b/modules/aerial_navigation/aerial_navigation.html
index 1e6fc6da..463ce55f 100644
--- a/modules/aerial_navigation/aerial_navigation.html
+++ b/modules/aerial_navigation/aerial_navigation.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
diff --git a/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.html b/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.html
index 94e2f948..fec276b0 100644
--- a/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.html
+++ b/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
diff --git a/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.html b/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.html
index a76fd0ba..cd85e7d1 100644
--- a/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.html
+++ b/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
         <script async="async" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
diff --git a/modules/appendix/Kalmanfilter_basics.html b/modules/appendix/Kalmanfilter_basics.html
index 7cef782f..4643f53a 100644
--- a/modules/appendix/Kalmanfilter_basics.html
+++ b/modules/appendix/Kalmanfilter_basics.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
         <script async="async" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
diff --git a/modules/appendix/Kalmanfilter_basics_2.html b/modules/appendix/Kalmanfilter_basics_2.html
index 329d0ef5..8a9dac9a 100644
--- a/modules/appendix/Kalmanfilter_basics_2.html
+++ b/modules/appendix/Kalmanfilter_basics_2.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
         <script async="async" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
diff --git a/modules/appendix/appendix.html b/modules/appendix/appendix.html
index f35385d9..9764177f 100644
--- a/modules/appendix/appendix.html
+++ b/modules/appendix/appendix.html
@@ -8,6 +8,7 @@
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       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
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         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
diff --git a/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control.html b/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control.html
index cba47a2f..2c3f405b 100644
--- a/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
diff --git a/modules/path_tracking/stanley_control/stanley_control.html b/modules/path_tracking/stanley_control/stanley_control.html
index a9667969..e0c24e42 100644
--- a/modules/path_tracking/stanley_control/stanley_control.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
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diff --git a/modules/slam/FastSLAM1/FastSLAM1.html b/modules/slam/FastSLAM1/FastSLAM1.html
index 1e85ddb7..02f380bc 100644
--- a/modules/slam/FastSLAM1/FastSLAM1.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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diff --git a/modules/slam/FastSLAM2/FastSLAM2.html b/modules/slam/FastSLAM2/FastSLAM2.html
index b054ba73..40ff0f79 100644
--- a/modules/slam/FastSLAM2/FastSLAM2.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
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diff --git a/modules/slam/ekf_slam/ekf_slam.html b/modules/slam/ekf_slam/ekf_slam.html
index 17a1718e..185a94ff 100644
--- a/modules/slam/ekf_slam/ekf_slam.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
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     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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diff --git a/modules/slam/graph_slam/graph_slam.html b/modules/slam/graph_slam/graph_slam.html
index a63cd8c6..a192509a 100644
--- a/modules/slam/graph_slam/graph_slam.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
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     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
         <script async="async" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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diff --git a/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching.html b/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching.html
index df4674b1..edd6d9a2 100644
--- a/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching.html
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
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diff --git a/modules/slam/slam.html b/modules/slam/slam.html
index 88a7021c..1e5fcc05 100644
--- a/modules/slam/slam.html
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       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
diff --git a/modules/utils/plot/plot.html b/modules/utils/plot/plot.html
index 804bed7d..f5901235 100644
--- a/modules/utils/plot/plot.html
+++ b/modules/utils/plot/plot.html
@@ -8,6 +8,7 @@
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       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" />
diff --git a/modules/utils/utils.html b/modules/utils/utils.html
index f754db00..5b84669d 100644
--- a/modules/utils/utils.html
+++ b/modules/utils/utils.html
@@ -8,6 +8,7 @@
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       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
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diff --git a/search.html b/search.html
index 8f7bf598..9cdc159f 100644
--- a/search.html
+++ b/search.html
@@ -7,6 +7,7 @@
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+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
     
   <!--[if lt IE 9]>
@@ -17,6 +18,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <script src="_static/searchtools.js"></script>
     <script src="_static/language_data.js"></script>