diff --git a/source/move.py b/source/move.py
index 969ada2..79c72bd 100644
--- a/source/move.py
+++ b/source/move.py
@@ -1,19 +1,51 @@
 import bpy
 from random import random
 from mathutils import Matrix, Quaternion
+from typing import Tuple
 
 
 class ArmGraspController:
-    def __init__(self, armature_name):
-        self.arm = bpy.data.objects[armature_name]
+    """Class to help with controlling a single arm in blender.
+    """
+    def __init__(self, armature_name: str, wrist_object_name: str,
+                 start_pos: Tuple[float] = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)):
+        """Constructor for ArmGraspController
+
+        Args:
+            armature_name (str): The exact name of the blender armature to control.
+            wrist_object_name (str): The exact name of the blender object which is used to control the arm's IK solutions.
+            start_pos (Tuple[float]): 3D wrist position to start in.
+        """
+        self.armature_name = armature_name
+        self.arm = bpy.data.objects[self.armature_name]
         self.open = False
         self.finger_grab_bones = ["index_3", "middle_3", "ring_3", "pinky_3"]
-        self.thumb_rot_bone = "thumb_3"
+        self.thumb_rot_name = "thumb_3"
+        self.upper_arm_name = "upper_arm"
+        self.upper_arm_bone = self.arm.pose.bones[self.upper_arm_name]
+        self.wrist_object_name = wrist_object_name
+        self.wrist_object = bpy.data.objects[self.wrist_object_name]
+        self.start_pos = start_pos
 
     def deselect_all_bones(self):
+        """Deselects all bones in the armature (the arm).
+        """
         for bone in self.arm.pose.bones:    # Deselect all selected bones
             bone.bone.select = False
 
+    def move(self, new_pos: Tuple[float]):
+        """Moves wrist to new position.
+
+        Args:
+            new_pos (Tuple[float]): New wrist position. Tuple size: 3 floats.
+        """
+        self.wrist_object.location = new_pos
+        self.wrist_object.keyframe_insert(data_path='location', index=-1)
+
+    def move_shoulder(self, new_pos: Tuple[float]):
+        self.upper_arm_bone.location = new_pos
+        self.upper_arm_bone.keyframe_insert(data_path='location')
+
     def open_fingers(self):
         self.grab_movement(0.8)
 
@@ -57,33 +89,32 @@ class ArmGraspController:
         
         # Now rotate the thumb too
         self.deselect_all_bones()
-        bone = self.arm.pose.bones.get(self.thumb_rot_bone).bone
+        bone = self.arm.pose.bones.get(self.thumb_rot_name).bone
         if bone: bone.select = True
         bpy.ops.transform.rotate(value=angle, orient_axis='Z', orient_type='LOCAL')
         bpy.ops.anim.keyframe_insert(type='Rotation')
 
 
-ob = bpy.data.objects['Sphere']
+
+# Script start
 frame_number = 0
 
 max_dist = 0.5
 #start_location = ob.location.copy()
 start_location = (1.6766993999481201, 0.3146645724773407, -1.3483989238739014)
-
-# Script start
-controller = ArmGraspController("Armature")
+controller = ArmGraspController("Armature", "Sphere")
 
 for i in range(12):
+    bpy.context.scene.frame_set(frame_number)
+
     x = random()*max_dist
     y = random()*max_dist
     z = random()*max_dist
-    
-    bpy.context.scene.frame_set(frame_number)
-    ob.location = (
+    controller.move((
         start_location[0] + x,
         start_location[1] + y,
         start_location[2] + z
-    )
-    ob.keyframe_insert(data_path='location', index=-1)
+    ))
+
     controller.move_fingers()
     frame_number += 20
\ No newline at end of file