diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 791aa66..a4064a6 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -90,21 +90,29 @@ class RobotTCP(TcpDevice, Stoppable):
         return ret
 
     def get_float_arr(self, size, name="arr"):
-        #return [float(x) for x in self.get_arr("arr", size)]
-        ret = []
-        a=self.get_arr("arr", size)
-        for i in range(size):
-            ret.append(int(a[i]))
-        return ret
+        #return [float(x) for x in self.get_arr("arr", size)]        
+        a=self.get_arr(name, size)
+        ret = []; 
+        for i in range(size): ret.append(float(a[i])); 
+        return ret        
     
     def get_trf(self, name="t"):
-        return self.execute('get_trf', name)
+        a = self.execute('get_trf', name)
+        ret = []
+        for i in range(6): ret.append(float(a[i]))
+        return ret        
 
     def get_jnt(self, name="j"):
-        return self.execute('get_jnt', name)
+        a = self.execute('get_jnt', name)
+        ret = []
+        for i in range(6): ret.append(float(a[i]))
+        return ret        
 
     def get_pnt(self, name="p"):
-        return self.execute('get_pnt', name)
+        a = self.execute('get_pnt', name)
+        ret = []
+        for i in range(6): ret.append(float(a[i]))
+        return ret        
 
     def eval_int(self, cmd):
         self.evaluate("n=" + cmd)
@@ -229,7 +237,7 @@ class RobotTCP(TcpDevice, Stoppable):
 
     #Arm position
     def herej(self):
-        return get_jnt("")
+        return self.eval_jnt("herej()")
     
     
     #Updating
@@ -270,4 +278,6 @@ class RobotTCP(TcpDevice, Stoppable):
 
 add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)   
 robot_tcp.setPolling(500)
-#robot_tcp.set_monitor_speed(20)
\ No newline at end of file
+#robot_tcp.set_monitor_speed(20)
+print robot_tcp.get_joint_forces()
+print robot_tcp.herej()
\ No newline at end of file