diff --git a/roboglue.conf b/roboglue.conf
index e10838e..99585c2 100644
--- a/roboglue.conf
+++ b/roboglue.conf
@@ -12,30 +12,30 @@ connection\autoconnect=false
 connection\robotip=10.0.0.5
 connection\robotport=30002
 connection\robotretry=5
-kine\dhtable\1\dha=3.246e-321
-kine\dhtable\1\dhalpha=6.91983159050874e-310
-kine\dhtable\1\dhd=6.9198315899621e-310
-kine\dhtable\1\dhtheta=6.9198315899621e-310
-kine\dhtable\2\dha=6.9198315903799e-310
-kine\dhtable\2\dhalpha=3.56e-322
-kine\dhtable\2\dhd=3.16e-322
-kine\dhtable\2\dhtheta=6.91983159055775e-310
-kine\dhtable\3\dha=6.9198315906463e-310
-kine\dhtable\3\dhalpha=5e-324
-kine\dhtable\3\dhd=3.36e-322
+kine\dhtable\1\dha=6.94460589082162e-310
+kine\dhtable\1\dhalpha=6.9446058912971e-310
+kine\dhtable\1\dhd=1.099340831232476e+248
+kine\dhtable\1\dhtheta=1.332e-320
+kine\dhtable\2\dha=0
+kine\dhtable\2\dhalpha=6.9446058912884e-310
+kine\dhtable\2\dhd=1.3849777432376169e+219
+kine\dhtable\2\dhtheta=6.9446058913382e-310
+kine\dhtable\3\dha=0
+kine\dhtable\3\dhalpha=5.53e-322
+kine\dhtable\3\dhd=2.44861994589e-312
 kine\dhtable\3\dhtheta=8e-323
-kine\dhtable\4\dha=0
-kine\dhtable\4\dhalpha=0
-kine\dhtable\4\dhd=6.91983159056645e-310
+kine\dhtable\4\dha=2.37e-322
+kine\dhtable\4\dhalpha=2.37e-322
+kine\dhtable\4\dhd=0
 kine\dhtable\4\dhtheta=0
-kine\dhtable\5\dha=1.63e-322
-kine\dhtable\5\dhalpha=1.35e-321
-kine\dhtable\5\dhd=0
-kine\dhtable\5\dhtheta=3.2e-322
-kine\dhtable\6\dha=6.9198315905554e-310
-kine\dhtable\6\dhalpha=6.9198315903799e-310
-kine\dhtable\6\dhd=0
-kine\dhtable\6\dhtheta=6.9198315899621e-310
+kine\dhtable\5\dha=2.57e-322
+kine\dhtable\5\dhalpha=2.57e-322
+kine\dhtable\5\dhd=2.06e-321
+kine\dhtable\5\dhtheta=8.74e-322
+kine\dhtable\6\dha=6.9446058915066e-310
+kine\dhtable\6\dhalpha=6.9446058913493e-310
+kine\dhtable\6\dhd=6.94460589137854e-310
+kine\dhtable\6\dhtheta=6.94460589137854e-310
 kine\dhtable\size=6
 kine\maxreach=@Variant(\0\0\0\x87?\x99\x99\x9a)
 kine\prefix=0