diff --git a/csv/deprecated/dh-transformations.csv b/csv/deprecated/dh-transformations.csv
new file mode 100644
index 0000000..62cf22d
--- /dev/null
+++ b/csv/deprecated/dh-transformations.csv
@@ -0,0 +1,4 @@
+Name,Transformation
+H_hip_neck,RotX(90)
+H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1)
+H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1)
diff --git a/csv/dh-trunk.csv b/csv/deprecated/dh-trunk.csv
similarity index 100%
rename from csv/dh-trunk.csv
rename to csv/deprecated/dh-trunk.csv
diff --git a/csv/dh-fetch.csv b/csv/dh-fetch.csv
new file mode 100644
index 0000000..1be45db
--- /dev/null
+++ b/csv/dh-fetch.csv
@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,-90,0,0,90
+2,0,lf,0,0
diff --git a/csv/dh-head-transformations.csv b/csv/dh-head-transformations.csv
new file mode 100644
index 0000000..4c18917
--- /dev/null
+++ b/csv/dh-head-transformations.csv
@@ -0,0 +1,4 @@
+Name,Transformation
+H_head_rgb,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14)
+H_head_depth,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14-l15)
+H_head_flea,TrasZ(l3+l4) * RotZ(-90) * RotX(-90)
diff --git a/csv/dh-transformations.csv b/csv/dh-transformations.csv
deleted file mode 100644
index 01e92be..0000000
--- a/csv/dh-transformations.csv
+++ /dev/null
@@ -1,9 +0,0 @@
-Name,Transformation
-H_head_rgb,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14)
-H_head_depth,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14-l15)
-H_head_flea,TrasZ(l3+l4) * RotZ(-90) * 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)
-H_root_rightLeg,TrasZ(-l19) * RotZ(90) * TrasX(-l13)
diff --git a/csv/lengths.csv b/csv/lengths.csv
index 679dd16..e7c2e24 100644
--- a/csv/lengths.csv
+++ b/csv/lengths.csv
@@ -1,18 +1,19 @@
-lengths,distance [mm],
-l0,193.2,
-l1,305,
-l2,162.5,
-l3,59.742,
-l4,37.508,
-l5,346.92,
-l6,329.01,
-l7,202,
-l8,187.496,"Con F/T, a 2 cm debajo chapa final mano."
-l9,92,
-l10,330,
-l11,300,
-l12,123.005,
-l13,146,
-l14,18,
-l15,26,
-l16,17.5,
+lengths,distance [mm]
+l0,193.2
+l1,305
+l2,162.5
+l3,59.742
+l4,37.508
+l5,346.92
+l6,329.01
+l7,202
+l8,90
+l9,92
+l10,330
+l11,300
+l12,123.005
+l13,146
+l14,18
+l15,26
+l16,17.5
+lf,97.5
diff --git a/tables.md b/tables.md
index 79e5e59..4171b36 100644
--- a/tables.md
+++ b/tables.md
@@ -14,56 +14,81 @@ Can be found at [Motores: motores](#motores-motores)
 
 ## DH Parameters
 
-### Useful transformations
-Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (below).
-- Github: [dh-transformations.csv](csv/dh-transformations.csv)
-- Gitbook: {% includeCsv src="csv/dh-transformations.csv", useHeader="true" %}{% endincludeCsv %}
+### Group: head
 
-### trunk (root to hip)
-This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, below) may be more useful.
-- Github: [dh-trunk.csv](csv/dh-trunk.csv)
-- Gitbook: {% includeCsv src="csv/dh-trunk.csv", useHeader="true" %}{% endincludeCsv %}
-
-### trunk for head (root to neck)
+#### trunk for head (root to neck)
 - Github: [dh-root-head.csv](csv/dh-root-head.csv)
 - Gitbook: {% includeCsv src="csv/dh-root-head.csv", useHeader="true" %}{% endincludeCsv %}
 
-### head
+#### head
 - Github: [dh-head.csv](csv/dh-head.csv)
 - Gitbook: {% includeCsv src="csv/dh-head.csv", useHeader="true" %}{% endincludeCsv %}
 
-### trunk for rightArm (root to rightArm)
+#### head additional transformations
+- Github: [dh-head-transformations.csv](csv/dh-head-transformations.csv)
+- Gitbook: {% includeCsv src="csv/dh-head-transformations.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Group: rightArm
+
+#### trunk for rightArm (root to rightArm)
 - Github: [dh-root-rightArm.csv](csv/dh-root-rightArm.csv)
 - Gitbook: {% includeCsv src="csv/dh-root-rightArm.csv", useHeader="true" %}{% endincludeCsv %}
 
-### rightArm
+#### rightArm
 - Github: [dh-rightArm.csv](csv/dh-rightArm.csv)
 - Gitbook: {% includeCsv src="csv/dh-rightArm.csv", useHeader="true" %}{% endincludeCsv %}
 
-### trunk for leftArm (root to leftArm)
+#### fetch
+- Github: [dh-fetch.csv](csv/dh-fetch.csv)
+- Gitbook: {% includeCsv src="csv/dh-fetch.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Group: leftArm
+
+#### trunk for leftArm (root to leftArm)
 - Github: [dh-root-leftArm.csv](csv/dh-root-leftArm.csv)
 - Gitbook: {% includeCsv src="csv/dh-root-leftArm.csv", useHeader="true" %}{% endincludeCsv %}
 
-### leftArm
+#### leftArm
 - Github: [dh-leftArm.csv](csv/dh-leftArm.csv)
 - Gitbook: {% includeCsv src="csv/dh-leftArm.csv", useHeader="true" %}{% endincludeCsv %}
 
-### root to rightLeg
+#### fetch
+- Github: [dh-fetch.csv](csv/dh-fetch.csv)
+- Gitbook: {% includeCsv src="csv/dh-fetch.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Group: rightLeg
+
+#### root to rightLeg
 - Github: [dh-root-rightLeg.csv](csv/dh-root-rightLeg.csv)
 - Gitbook: {% includeCsv src="csv/dh-root-rightLeg.csv", useHeader="true" %}{% endincludeCsv %}
 
-### rightLeg
+#### rightLeg
 - Github: [dh-rightLeg.csv](csv/dh-rightLeg.csv)
 - Gitbook: {% includeCsv src="csv/dh-rightLeg.csv", useHeader="true" %}{% endincludeCsv %}
 
-### root to leftLeg
+### Group: leftLeg
+
+#### root to leftLeg
 - Github: [dh-root-leftLeg.csv](csv/dh-root-leftLeg.csv)
 - Gitbook: {% includeCsv src="csv/dh-root-leftLeg.csv", useHeader="true" %}{% endincludeCsv %}
 
-### leftLeg
+#### leftLeg
 - Github: [dh-leftLeg.csv](csv/dh-leftLeg.csv)
 - Gitbook: {% includeCsv src="csv/dh-leftLeg.csv", useHeader="true" %}{% endincludeCsv %}
 
+### Group: Deprecated transformations
+The below are not required at time of writing, and may become outdated with time.
+
+#### Deprecated trunk (root to hip)
+This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, above) seem to be more useful.
+- Github: [deprecated/dh-trunk.csv](csv/deprecated/dh-trunk.csv)
+- Gitbook: {% includeCsv src="csv/deprecated/dh-trunk.csv", useHeader="true" %}{% endincludeCsv %}
+
+#### Deprecated additional transformations
+Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (above).
+- Github: [deprecated/dh-transformations.csv](csv/deprecated/dh-transformations.csv)
+- Gitbook: {% includeCsv src="csv/deprecated/dh-transformations.csv", useHeader="true" %}{% endincludeCsv %}
+
 ## Link Lengths
 - Github: [lengths.csv](csv/lengths.csv)
 - Gitbook: {% includeCsv src="csv/lengths.csv", useHeader="true" %}{% endincludeCsv %}