diff --git a/mycobot_description/urdf/mycobot/mycobot_urdf.urdf b/mycobot_description/urdf/mycobot/mycobot_urdf.urdf
index 9202e95..c4370c9 100755
--- a/mycobot_description/urdf/mycobot/mycobot_urdf.urdf
+++ b/mycobot_description/urdf/mycobot/mycobot_urdf.urdf
@@ -142,7 +142,7 @@
 
   <joint name="g_base_to_joint1" type="fixed">
     <axis xyz="0 0 0"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "0" upper = "0" velocity = "1"/>
     <parent link="g_base"/>
     <child link="joint1"/>
     <origin xyz= "0 0 0" rpy = "0 0 0"/>  
@@ -151,7 +151,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "1"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
@@ -160,7 +160,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.36" upper = "2.3561" velocity = "1"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -169,17 +169,16 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.62" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
   </joint>
 
 
-
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.53" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -187,7 +186,7 @@
 
   <joint name="joint6_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.88" upper = "2.8797" velocity = "1"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
@@ -195,7 +194,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "1"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>