diff --git a/public/index.html b/public/index.html
index 5b2adc2..baba715 100755
--- a/public/index.html
+++ b/public/index.html
@@ -87,10 +87,11 @@
   </div>
 
   <script src="/calculateActions.js"></script>
-  <script type="module" src="/calculateAnglesBrowser.js"></script>
   <script src="/client.js"></script>
 
-  <script> window.calculateAngles.fetchAndCalculate();  </script>
+  <script defer> window.calculateAngles.fetchAndCalculate();  </script>
 
+  <script src="/calculateAngles.js"></script>
+  
 </body>
 </html>
\ No newline at end of file
diff --git a/public/robot.json b/public/robot.json
index db82d94..4a930ca 100644
--- a/public/robot.json
+++ b/public/robot.json
@@ -4,18 +4,20 @@
     "ElementLength":{"Arm1":250, "Arm2":250, "Finger1":100, "Finger2":100},
     "Joints":{
         "jointA":{"name":"Slider",  "type":"lninear", "axis":[1,0,0],"parent":"Board","child":"Base"},
-        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 53], "originSource":[null, "229_198_Foto_5_2026", "229_198_Foto_5_2026"]},
+        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 61], "originSource":[null, "229_198_Foto_5_2026", "Fuson"]},
         "jointC":{"name":"EllbowLift","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1", "origin":[null, null, null]},
         "jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2", "origin":[null, null, null]}
     },
     "MarkerType":"DICT_4X4_250",
     "Marker":[
-        {"id":205,"on":"Board","position":[0.80, -0.090, 0.0]},        
+        {"id":205,"on":"Board","position":[0.80, -0.090, 0.0]},
+        {"id":207,"on":"Board","position":[0.80, 0.0, 0.0]},        
         {"id":208,"on":"Board","position":[0.50, -0.090, 0.0]},
         {"id":210,"on":"Board","position":[0.00,  0.0,   0.0]},
         {"id":211,"on":"Board","position":[0.20,  0.0,   0.0]},
         {"id":214,"on":"Board","position":[0.40,  0.0,   0.0]},
         {"id":215,"on":"Board","position":[0.20, -0.090, 0.0]},
+        {"id":217,"on":"Board","position":[0.60, -0.090, 0.0]},
 
         {"id":200,"on":"Base","relPos":[-163.8,   6.5,  55], "relPosSource":["226_FotoAverage_5_2026",null,null]},
         {"id":201,"on":"Base","relPos":[-164.8,  97.5,  74.5], "relPosSource":["226_FotoAverage_5_2026",null,null]},
@@ -29,15 +31,15 @@
         {"id":222,"on":"Joint1", "relPos":[0,0, -35]},
         {"id":226,"on":"Joint1", "relPos":[0,0, 35]},
 
-        {"id":228,"on":"Arm2", "relPos":[-24.75, 112, 24.75],  "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":  0,"on":"Arm2", "relPos":[-24.75, 182, 24.75],  "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":  0,"on":"Arm2", "relPos":[-35,112,0],           "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":  0,"on":"Arm2", "relPos":[-35,219,0],           "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":223,"on":"Arm2", "relPos":[-28.67,112,-20.08],   "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":  0,"on":"Arm2", "relPos":[0,182,-30],           "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":218,"on":"Arm2", "relPos":[35,112,0],            "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":219,"on":"Arm2", "relPos":[35,219,0],            "relPosSource":["Fusion365","Fusion365","Fusion365"]},
-        {"id":  0,"on":"Arm2", "relPos":[24.75, 182, 24.75],   "relPosSource":["Fusion365","Fusion365","Fusion365"]},
+        {"id":228,"on":"Arm2", "relPos":[-24.75, 112, 24.75],  "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":  0,"on":"Arm2", "relPos":[-24.75, 182, 24.75],  "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":  0,"on":"Arm2", "relPos":[-35,112,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":  0,"on":"Arm2", "relPos":[-35,219,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":223,"on":"Arm2", "relPos":[-28.67,112,-20.08],   "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":  0,"on":"Arm2", "relPos":[0,182,-30],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":218,"on":"Arm2", "relPos":[35,112,0],            "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":219,"on":"Arm2", "relPos":[35,219,0],            "relPosSource":["Fusion","Fusion","Fusion"]},
+        {"id":  0,"on":"Arm2", "relPos":[24.75, 182, 24.75],   "relPosSource":["Fusion","Fusion","Fusion"]},
         
         {"id":218,"on":"Finger1","name":"A1","relPos":[-1.70,-25.14, 38.04]},
         {"id":222,"on":"Finger1","name":"B1","relPos":[-14.55, 0.84, 74.79]}