diff --git a/csv/dh-head.csv b/csv/dh-head.csv
index 83e8ebd..9a8fbeb 100644
--- a/csv/dh-head.csv
+++ b/csv/dh-head.csv
@@ -1,3 +1,3 @@
Link,θ,D,A,α
-1,q27,0,0,90
+1,q27,l1+l2,0,90
2,q28,0,0,-90
diff --git a/csv/dh-root-head.csv b/csv/dh-root-head.csv
new file mode 100644
index 0000000..06e6e6f
--- /dev/null
+++ b/csv/dh-root-head.csv
@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q13,l0,0,-90
+2,q14,0,0,90
diff --git a/csv/dh-transformations.csv b/csv/dh-transformations.csv
index aefe8bd..47098fd 100644
--- a/csv/dh-transformations.csv
+++ b/csv/dh-transformations.csv
@@ -1,8 +1,8 @@
Name,Transformation
-H_head_rgb,TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180)
-H_head_depth,TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180)
-H_head_flea,TrasY(l3+l4) * RotY(90) * RotZ(180)
-H_hip_neck,RotX(90) * TrasZ(l1+l2)
+H_head_rgb,TrasZ(l3) * RotX(-90) * TrasX(-l14)
+H_head_depth,TrasZ(l3) * RotX(-90) * TrasX(-l14-l15)
+H_head_flea,TrasZ(l3+l4) * RotX(-90)
+H_hip_neck,RotX(90)
H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1)
H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1)
H_root_leftLeg,TrasZ(-l19) * RotZ(90) * TrasX(l13)
diff --git a/fig/dh-drawing.png b/fig/dh-drawing.png
index 8ba8dd2..55a30c7 100644
Binary files a/fig/dh-drawing.png and b/fig/dh-drawing.png differ
diff --git a/fig/editable/dh-drawing.svg b/fig/editable/dh-drawing.svg
index 8e72272..f306390 100644
--- a/fig/editable/dh-drawing.svg
+++ b/fig/editable/dh-drawing.svg
@@ -11658,6 +11658,161 @@
y1="710.1825"
x2="311.36365"
y2="700.10278" />
+
+
+
+
+
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+
+
+
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+
+
+ transform="translate(4.5073504,-305.22044)">
-
-
-
-
z1
- x1
- x0≡x1
+ id="tspan6969-6-9-0-8-1-4">0(neck)
z1
- z0
Hhip_rightArm
-
Hhip_neck
- Hhip_leftArm
Hroot_rightLeg
Hroot_leftLeg
@@ -13027,7 +13109,7 @@
@@ -13183,7 +13265,7 @@
x="168.3251"
style="font-style:normal;font-variant:normal;font-weight:500;font-stretch:normal;line-height:0%;font-family:Rekha;-inkscape-font-specification:'Rekha Medium';letter-spacing:0px;word-spacing:0px;fill:#ff0000;fill-opacity:1;stroke:none;filter:url(#filter4711-77)"
xml:space="preserve"
- transform="matrix(1.0666667,0,0,1.0666667,-96.859378,32.083392)"
+ transform="matrix(1.0666667,0,0,1.0666667,-58.859378,32.083392)"
sodipodi:linespacing="0%">x3≡x3,x4
0≡,x2≡,x0≡,x
-
- z1
- z1
+ z3
- z3
+ z4
- z4
+ z5
-
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- z5
+
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+
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+ x3≡x4
- x3,x4
+ x5
- x5
+ z6
- z6
+ x6
- x6
+ z0≡x2
-
-
-
-
-
-
-
-
-
-
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- z2z0≡,x0≡x1
-
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-
+ id="tspan4290-0-8-7-0">x2
+
+
+
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+
+
+
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+
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+ z2,x0,x1
+
+
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+ z1(hip),z2(hip)
+ x1,x2
+
+
+
+
+
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+
+ z2
+ x0(neck),x1(hip),x2(hip)