diff --git a/3-kinematics/02-direct-kinematics.ipynb b/3-kinematics/02-direct-kinematics.ipynb
index 0afc6f2..2f43b69 100644
--- a/3-kinematics/02-direct-kinematics.ipynb
+++ b/3-kinematics/02-direct-kinematics.ipynb
@@ -227,8 +227,8 @@
                 "\n",
                 "    # Denavit-Hartenberg parameters for the 3 DOF robot\n",
                 "    # end effector: H10 * H21\n",
-                "    H10 = dh(t1 + 40, 1000, 0, 0)\n",
-                "    H21 = dh(t2 + 10, 1000, 0, 0)\n",
+                "    H10 = dh(t1,0, 1, 0)\n",
+                "    H21 = dh(t2,0, 1, 0)\n",
                 "    # the tool has a length of 100 mm\n",
                 "    Htool3 = dh(0, 100, 0, 0)\n",
                 "\n",
@@ -272,7 +272,7 @@
             "outputs": [],
             "source": [
                 "# Test of the function dk(t1, t2)\n",
-                "pose = dk(0, 0)\n",
+                "pose = dk(40, 10)\n",
                 "\n",
                 "# print the end effector pose\n",
                 "print(pose)\n",
@@ -421,7 +421,7 @@
             "name": "python",
             "nbconvert_exporter": "python",
             "pygments_lexer": "ipython3",
-            "version": "3.10.6"
+            "version": "3.8.10"
         }
     },
     "nbformat": 4,