diff --git a/assets/editable/motores.ods b/assets/editable/motores.ods
index 3af643c..2ec2952 100644
Binary files a/assets/editable/motores.ods and b/assets/editable/motores.ods differ
diff --git a/assets/motores-motores.csv b/assets/motores-motores.csv
index d82e60e..615dddd 100644
--- a/assets/motores-motores.csv
+++ b/assets/motores-motores.csv
@@ -1,27 +1,27 @@
-Articulación,Simox-names,Limb,YARP,CAN IDs,JOINT,MOTOR,R. total,Hard. Limits,Soft. Limits,Human-inspired Limits,Sent. Giro
-Tobillo Sagital Drch.,RightSaggitalAnkle,Right leg (/dev/can0),6,1,TSD-1,251601,235.2,-30.650268º a +24.253074º,-25.6º a +19.2º,-25.6º a +19.2º,-X (abre)
-Tobillo Frontal Drch.,RightFrontalAnkle,Right leg (/dev/can0),5,2,TFD-2,402686,270.4,-30.386657º a +23.901580º ,-25.4º a +18.9º,-25.4º a +18.9º,Y (atrás)
-Rodilla Frontal Drch.,RightFrontalKnee,Right leg (/dev/can0),4,3,RFD-3,402686,235.2,-63.427062º a +76.186294º,-58.4º a +71.1º,-58.4º a +30.0º,Y (atrás)
-Cadera Frontal Drch.,RightFrontalHip,Right leg (/dev/can0),3,4,CFD-4,402686,192,-36.625671º a +44.112476º,-31.6º a +39.1º,-10.0º a +39.1º,Y (atrás)
-Cadera Sagital Drch.,RightSaggitalHip,Right leg (/dev/can0),2,5,CSD-5,251601,523.2,-17.557128º a +17.486818º,-12.5º a +12.5º,-12.5º a +12.5º,X (cierra)
-Cadera Axial Drch.,RightAxialHip,Right leg (/dev/can0),1,6,CAD-6,339287,400,-41.300525º a +34.077331º,-36.3º a +29.0º,-5.0º a +5.0º,Z (cierra)
-Cintura Frontal,FrontalWaist,Right leg (/dev/can0),0,14,CF-14,251601,480,-15.114234º a +95.412994º,-10.1º a +90.4º,-10.1º a +90.4º,Y (adelante)
-Cintura Axial,AxialWaist,Left leg (/dev/can1),0,13,CA-13,251601,160,-64.305816º a +51.318099º,-59.3º a +46.3º,-30.0º a +30.0º,
-Cadera Axial Izq.,LeftAxialHip,Left leg (/dev/can1),1,7,CAI-7,339287,400,-41.300525º a +34.077331º *,-36.3º a +29.1º,-5.0º a +5.0º,-Z (cierra)
-Cadera Sagital Izq.,LeftSaggitalHip,Left leg (/dev/can1),2,8,CSI-8,339287,523.2,-17.557128º a +17.486818º *,-12.5º a +12.5º,-12.5º a +12.5º,-X (cierra)
-Cadera Frontal Izq.,LeftFrontalHip,Left leg (/dev/can1),3,9,CFI-9,402686,192,-36.625671º a +44.112476º *,-31.6º a +39.1º,-10.0º a +39.1º,Y (atrás)
-Rodilla Frontal Izq.,LeftFrontalKnee,Left leg (/dev/can1),4,10,RFI-10,402686,235.2,-63.427062º a +76.186294º *,-58.4º a +71.1º,-58.4º a +30.0º,Y (atrás)
-Tobillo Frontal Izq.,LeftFrontalAnkle,Left leg (/dev/can1),5,11,TFI-11,402686,270.4,-30.386657º a +23.901580º *,-25.4º a +18.9º,-25.4º a +18.9º,Y (atrás)
-Tobillo Sagital Izq.,LeftSaggitalAnkle,Left leg (/dev/can1),6,12,TSI-12,251601,235.2,-30.650268º a +24.253074º *,-25.6º a +19.2º,-25.6º a +19.2º,X (abre)
-Hombro Frontal Der.,RightFrontalShoulder,Right arm (/dev/can0),0,15,HFD-15,339282,160,-93.479797º a +103.07556º,-88.5º a +98.1º,-45.0º a +98.1º,-Y (adelante)
-Hombro Sagital Der.,RightSaggitalShoulder,Right arm (/dev/can0),1,16,HSD-16,339282,160,-80.474518º a +34.622143º,-75.5º a +29.6º,-75.5º a +29.6º,X (cierra)
-Hombro Axial Der.,RightAxialShoulder,Right arm (/dev/can0),2,17,HAD-17,339282,120,-62.021088º a +85.149384º,-57.0º a +80.1º,-55.0º a +40.0º,-Z (abre)
-Codo Frontal Der.,RightFrontalElbow,Right arm (/dev/can0),3,18,CFD-18,339282,160,-37.943756º a +88.488579º,-32.9º a +83.5º,-5.0º a +83.5º,-Y (adelante)
-Muñeca Axial Der.,RightAxialWrist,Right arm (/dev/can0),4,19,MAD-19,339282,120,-54.376099º a +79.701233º,-49.4º a +74.7º,-49.4º a +74.7º,-Z (abre)
-Muñeca Frontal Der.,RightFrontalWrist,Right arm (/dev/can0),5,20,MFD-20,339282,120,-61.933228º a +112.47802º,-56.9º a +107.5º,-56.9º a +70.0º,-Y (adelante)
-Hombro Frontal Izq.,LeftFrontalShoulder,Left arm (/dev/can1),0,21,HFI-21,339282,160,-98.488586º a +92.618629º,-93.5º a +87.6º,-93.5º a +45.0º,Y (atrás)
-Hombro Sagital Izq.,LeftSaggitalShoulder,Left arm (/dev/can1),1,22,HSI-22,339282,160,-34.253082º a +79.525482º,-29.2º a +74.5º,-29.6º a +75.5º,X (abre)
-Hombro Axial Izq.,LeftAxialShoulder,Left arm (/dev/can1),2,23,HAI-23,339282,120,-87.504395º a +59.753952º,-82.5º a +54.7º,-55.0º a +40.0º,-Z (cierra)
-Codo Frontal Izq.,LeftFrontalElbow,Left arm (/dev/can1),3,24,CFI-24,339282,160,-106.13357º a +19.156414º,-101.1º a +14.1º,-83.5º a +5.0º,Y (atrás)
-Muñeca Axial Izq.,LeftAxialWrist,Left arm (/dev/can1),4,25,MAI-25,339282,120,-81.441132º a +74.604568º,-76.4º a +69.6º,-49.4º a +74.7º,-Z (cierra)
-Muñeca Frontal Izq.,LeftFrontalWrist,Left arm (/dev/can1),5,26,MFI-26,339282,120,-108.94552º a +64.850616º,-103.9º a +59.8º,-70.0º a +56.9º,Y (atrás)
+Articulación,Simox-names,Limb,YARP,CAN IDs,JOINT,MOTOR,R. total,Hard. Limit Min (degrees),Hard. Limit Max (degrees),Soft. Limit Min (degrees) ,Soft. Limit Max (degrees) ,Human-inspired Min Limit (degrees),Human-inspired Max Limit (degrees)
+Tobillo Sagital Drch.,RightSaggitalAnkle,Right leg (/dev/can0),6,1,TSD-1,251601,235.2,-24.956062,47.521973,-19.9,42.5,-5,5.0
+Tobillo Frontal Drch.,RightFrontalAnkle,Right leg (/dev/can0),5,2,TFD-2,402686,270.4,-28.119507,30.386658,-23.1,25.4,-20,25.4
+Rodilla Frontal Drch.,RightFrontalKnee,Right leg (/dev/can0),4,3,RFD-3,402686,235.2,-66.326904,87.434097,-61.3,82.4,-61.3,82.4
+Cadera Frontal Drch.,RightFrontalHip,Right leg (/dev/can0),3,4,CFD-4,402686,192,-36.625671,47.275921,-31.6,42.3,-31.6,30
+Cadera Sagital Drch.,RightSaggitalHip,Right leg (/dev/can0),2,5,CSD-5,251601,523.2,-19.244287,17.486818,-14.2,12.5,-14.2,12.5
+Cadera Axial Drch.,RightAxialHip,Right leg (/dev/can0),1,6,CAD-6,339287,400,-37.785587,32.934967,-32.8,27.9,-32.8,27.9
+Cintura Frontal,FrontalWaist,Right leg (/dev/can0),0,14,CF-14,251601,480,-95.412994,15.114234,-90.4,10.1,-90.4,10.1
+Cintura Axial,AxialWaist,Left leg (/dev/can1),0,13,CA-13,251601,160,-51.318099,51.318099,-59.3,46.3,-30,30.0
+Cadera Axial Izq.,LeftAxialHip,Left leg (/dev/can1),1,7,CAI-7,339287,400,-37.785587,32.934967,-32.8,27.9,-32.8,27.9
+Cadera Sagital Izq.,LeftSaggitalHip,Left leg (/dev/can1),2,8,CSI-8,339287,523.2,-19.244287,17.486818,-14.2,12.5,-14.2,12.5
+Cadera Frontal Izq.,LeftFrontalHip,Left leg (/dev/can1),3,9,CFI-9,402686,192,-36.625671,47.275921,-31.6,42.3,-31.6,30.0
+Rodilla Frontal Izq.,LeftFrontalKnee,Left leg (/dev/can1),4,10,RFI-10,402686,235.2,-66.326904,87.434097,-61.3,82.4,-61.3,82.4
+Tobillo Frontal Izq.,LeftFrontalAnkle,Left leg (/dev/can1),5,11,TFI-11,402686,270.4,-28.119507,30.386658,-23.1,25.4,-20,25.4
+Tobillo Sagital Izq.,LeftSaggitalAnkle,Left leg (/dev/can1),6,12,TSI-12,251601,235.2,-24.956062,47.521973,-19.9,42.5,-5,5.0
+Hombro Frontal Der.,RightFrontalShoulder,Right arm (/dev/can0),0,15,HFD-15,339282,160,-103.07556,110.966614,-98.1,106,-98.1,45.0
+Hombro Sagital Der.,RightSaggitalShoulder,Right arm (/dev/can0),1,16,HSD-16,339282,160,-80.474518,27.416519,-75.5,22.4,-75.5,22.4
+Hombro Axial Der.,RightAxialShoulder,Right arm (/dev/can0),2,17,HAD-17,339282,120,-85.149384,62.021088,-80.1,57,-40,55.0
+Codo Frontal Der.,RightFrontalElbow,Right arm (/dev/can0),3,18,CFD-18,339282,160,-104.56942,103.409485,-99.6,98.4,-99.6,5.0
+Muñeca Axial Der.,RightAxialWrist,Right arm (/dev/can0),4,19,MAD-19,339282,120,-85.413002,104.63972,-80.4,99.6,-80.4,90
+Muñeca Frontal Der.,RightFrontalWrist,Right arm (/dev/can0),5,20,MFD-20,339282,120,-120.123024,49.718811,-115.1,44.7,-70,44.7
+Hombro Frontal Izq.,LeftFrontalShoulder,Left arm (/dev/can1),0,21,HFI-21,339282,160,-101.827759,118.189804,-96.8,113.2,-96.8,45.0
+Hombro Sagital Izq.,LeftSaggitalShoulder,Left arm (/dev/can1),1,22,HSI-22,339282,160,-28.892792,81.458702,-23.9,76.5,-23.9,76.5
+Hombro Axial Izq.,LeftAxialShoulder,Left arm (/dev/can1),2,23,HAI-23,339282,120,-56.590508,89.086121,-51.6,84.1,-51.6,40.0
+Codo Frontal Izq.,LeftFrontalElbow,Left arm (/dev/can1),3,24,CFI-24,339282,160,-106.13357,101.845345,-101.1,96.8,-101.1,5.0
+Muñeca Axial Izq.,LeftAxialWrist,Left arm (/dev/can1),4,25,MAI-25,339282,120,-106.32688,81.441132,-101.3,76.4,-90,76.4
+Muñeca Frontal Izq.,LeftFrontalWrist,Left arm (/dev/can1),5,26,MFI-26,339282,120,-118.260101,66.34446,-113.3,61.3,-70,61.3
diff --git a/assets/motores-transmision.csv b/assets/motores-transmision.csv
index b6d8b55..9b1c608 100644
--- a/assets/motores-transmision.csv
+++ b/assets/motores-transmision.csv
@@ -1,27 +1,16 @@
-Articulación,Simox-names,Limb,YARP,CAN IDs,JOINT,MOTOR,R. total,Hard. Limits,Soft. Limits,Human-inspired Limits
-Tobillo Sagital Drch.,RightSaggitalAnkle,Right leg (/dev/can0),6,1,TSD-1,251601,235.2,-24.956062º a +47.521973º,-19.9º a +42.5º,-5.0º a +5.0º
-Tobillo Frontal Drch.,RightFrontalAnkle,Right leg (/dev/can0),5,2,TFD-2,402686,270.4,-28.119507º a +30.386658º,-23.1º a +25.4º,-20.0º a +25.4º
-Rodilla Frontal Drch.,RightFrontalKnee,Right leg (/dev/can0),4,3,RFD-3,402686,235.2,-66.326904º a +87.434097º,-61.3º a +82.4º,-61.3º a +82.4º
-Cadera Frontal Drch.,RightFrontalHip,Right leg (/dev/can0),3,4,CFD-4,402686,192,-36.625671º a +47.275921º,-31.6º a +42.3º,-31.6º a +30º
-Cadera Sagital Drch.,RightSaggitalHip,Right leg (/dev/can0),2,5,CSD-5,251601,523.2,-19.244287º a +17.486818º,-14.2º a +12.5º,-14.2º a +12.5º
-Cadera Axial Drch.,RightAxialHip,Right leg (/dev/can0),1,6,CAD-6,339287,400,-37.785587º a +32.934967º,-32.8º a +27.9º,-32.8º a +27.9º
-Cintura Frontal,FrontalWaist,Right leg (/dev/can0),0,14,CF-14,251601,480,-95.412994º a +15.114234º,-90.4º a +10.1º,-90.4º a +10.1º
-Cintura Axial,AxialWaist,Left leg (/dev/can1),0,13,CA-13,251601,160,-51.318099º a +51.318099º,-59.3º a +46.3º,-30.0º a +30.0º
-Cadera Axial Izq.,LeftAxialHip,Left leg (/dev/can1),1,7,CAI-7,339287,400,-37.785587º a +32.934967º *,-32.8º a +27.9º,-32.8º a +27.9º
-Cadera Sagital Izq.,LeftSaggitalHip,Left leg (/dev/can1),2,8,CSI-8,339287,523.2,-19.244287º a +17.486818º *,-14.2º a +12.5º,-14.2º a +12.5º
-Cadera Frontal Izq.,LeftFrontalHip,Left leg (/dev/can1),3,9,CFI-9,402686,192,-36.625671º a +47.275921º *,-31.6º a +42.3º,-31.6º a +30.0º
-Rodilla Frontal Izq.,LeftFrontalKnee,Left leg (/dev/can1),4,10,RFI-10,402686,235.2,-66.326904º a +87.434097º *,-61.3º a +82.4º,-61.3º a +82.4º
-Tobillo Frontal Izq.,LeftFrontalAnkle,Left leg (/dev/can1),5,11,TFI-11,402686,270.4,-28.119507º a +30.386658º *,-23.1º a +25.4º,-20.0º a +25.4º
-Tobillo Sagital Izq.,LeftSaggitalAnkle,Left leg (/dev/can1),6,12,TSI-12,251601,235.2,-24.956062º a +47.521973º *,-19.9º a +42.5º,-5.0º a +5.0º
-Hombro Frontal Der.,RightFrontalShoulder,Right arm (/dev/can0),0,15,HFD-15,339282,160,-103.07556º a +110.966614º,-98.1º a +106.0º,-98.1º a +45.0º
-Hombro Sagital Der.,RightSaggitalShoulder,Right arm (/dev/can0),1,16,HSD-16,339282,160,-80.474518º a +27.416519º,-75.5º a +22.4º,-75.5º a +22.4º
-Hombro Axial Der.,RightAxialShoulder,Right arm (/dev/can0),2,17,HAD-17,339282,120,-85.149384º a +62.021088º,-80.1º a +57.0º,-40.0º a +55.0º
-Codo Frontal Der.,RightFrontalElbow,Right arm (/dev/can0),3,18,CFD-18,339282,160,-104.56942º a +103.409485º,-99.6º a +98.4º,-99.6º a +5.0º
-Muñeca Axial Der.,RightAxialWrist,Right arm (/dev/can0),4,19,MAD-19,339282,120,-85.413002º a +104.63972º,-80.4º a +99.6º,-80.4 a +90º
-Muñeca Frontal Der.,RightFrontalWrist,Right arm (/dev/can0),5,20,MFD-20,339282,120,-120.123024º a +49.718811º,-115.1º a +44.7º,-70.0º a +44.7º
-Hombro Frontal Izq.,LeftFrontalShoulder,Left arm (/dev/can1),0,21,HFI-21,339282,160,-101.827759º a +118.189804º,-96.8º a +113.2º,-96.8º a +45.0º
-Hombro Sagital Izq.,LeftSaggitalShoulder,Left arm (/dev/can1),1,22,HSI-22,339282,160,-28.892792º a +81.458702º,-23.9º a +76.5º,-23.9º a +76.5º
-Hombro Axial Izq.,LeftAxialShoulder,Left arm (/dev/can1),2,23,HAI-23,339282,120,-56.590508º a +89.086121º,-51.6º a +84.1º,-51.6º a +40.0º
-Codo Frontal Izq.,LeftFrontalElbow,Left arm (/dev/can1),3,24,CFI-24,339282,160,-106.13357º a +101.845345º,-101.1º a +96.8º,-101.1º a +5.0º
-Muñeca Axial Izq.,LeftAxialWrist,Left arm (/dev/can1),4,25,MAI-25,339282,120,-106.32688º a +81.441132º,-101.3º a +76.4º,-90.0º a +76.4º
-Muñeca Frontal Izq.,LeftFrontalWrist,Left arm (/dev/can1),5,26,MFI-26,339282,120,-118.260101º a +66.34446º,-113.3º a +61.3º,-70.0º a +61.3º
+,,,,,,,,
+Articulación,Motor,Polea Entrada,Correa,Polea Salida,Dist. Entre Ejes,reductora,Relación,R. total
+Tobillo Sagital,251601,Optibelt ZRS 30-3M-6,OMEGA 255-3M 3,Optibelt ZRS 44-3M-6,90 mm,160,1.47,235.2
+Tobillo Frontal,402686,Optibelt ZRS 26-3M-6,OMEGA 402-3M 3,Optibelt ZRS 44-3M-6,147'2 mm,160,1.69,270.4
+Rodilla,402686,Optibelt ZRS 30-3M-6,OMEGA 276-3M 3,Optibelt ZRS 44-3M-6,83'9 mm,160,1.47,235.2
+Cadera Frontal,402686,Optibelt ZRS 30-3M-6,OMEGA 357-3M 3,Optibelt ZRS 36-3M-6,127 mm,160,1.2,192
+Cadera Sagital,339287,Optibelt ZRS 22-3M-6,OMEGA 312-3M 3,Optibelt ZRS 72-3M-6,82 mm,160,3.27,523.2
+Cadera Axial,339287,Optibelt ZRS 24-3M-6,OMEGA 225-3M 6,Optibelt ZRS 60-3M-6,????,160,2.5,400
+Cintura Frontal,251601,Optibelt ZRS 10-3M-9,OMEGA 231-3M 9,Optibelt ZRS 30-3M-9,????,160,3,480
+Cintura Axial,251601,-----,-----,-----,-----,160,-----,160
+Hombro Frontal,339282,-----,-----,-----,-----,160,-----,160
+Hombro Sagital,339282,-----,-----,-----,-----,160,-----,160
+Hombro Axial,339282,-----,-----,-----,-----,120,-----,120
+Codo Frontal,339282,-----,-----,-----,-----,160,-----,160
+Muñeca Axial,339282,-----,-----,-----,-----,120,-----,120
+Muñeca Frontal,339282,-----,-----,-----,-----,120,-----,120