diff --git a/mycobot_description/urdf/mercury_a1/mercury_a1.urdf b/mycobot_description/urdf/mercury_a1/mercury_a1.urdf
index 00bfb136..d48421a3 100644
--- a/mycobot_description/urdf/mercury_a1/mercury_a1.urdf
+++ b/mycobot_description/urdf/mercury_a1/mercury_a1.urdf
@@ -137,7 +137,7 @@
 
   <joint name="joint1_to_base" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="base"/>
     <child link="joint1"/>
     <origin xyz= "0 0 0.175" rpy = "0 0 0"/>  
@@ -146,7 +146,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <!-- <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>   -->
@@ -156,7 +156,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 -0.11 0   " rpy = "1.5708 0 0"/>  
@@ -166,7 +166,7 @@
  
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.0543" upper = "0.0174" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>  
@@ -175,7 +175,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>  
@@ -184,7 +184,7 @@
  
   <joint name="joint6_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 0.0 0.08" rpy = "1.5708 0 0"/>  
@@ -192,7 +192,7 @@
 
   <joint name="joint7_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint7"/>
     <origin xyz= "0.038 -0.046 0" rpy = "1.5708 0 0"/>  
diff --git a/mycobot_description/urdf/mercury_b1/mercury_b1.urdf b/mycobot_description/urdf/mercury_b1/mercury_b1.urdf
index e6079652..cd7a8b26 100644
--- a/mycobot_description/urdf/mercury_b1/mercury_b1.urdf
+++ b/mycobot_description/urdf/mercury_b1/mercury_b1.urdf
@@ -57,13 +57,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mercury_b1/head_eye.dae"/>
       </geometry>
-      <origin xyz = "0 0 -0.0 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.0 " rpy = " 0 0 3.14159"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mercury_b1/head_eye.dae"/>
       </geometry>
-      <origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.1 " rpy = " 0 0 3.14159"/>
     </collision>
   </link>
 
@@ -319,7 +319,7 @@
 
   <joint name="joint6_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-0.0174" upper = "2.9321" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
     <parent link="link5_L"/>
     <child link="link6_L"/>
     <origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>  
@@ -375,7 +375,7 @@
 
   <joint name="joint6_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-0.0174" upper = "2.9321" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-0.0349" upper = "2.9321" velocity = "0"/>
     <parent link="link5_R"/>
     <child link="link6_R"/>
     <origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>  
@@ -395,7 +395,7 @@
     <limit effort = "1000.0" lower = "0" upper = "0.8377" velocity = "0"/>
     <parent link="link_head"/>
     <child link="link_eye"/>
-    <origin xyz= " 0.03 0 -0.08   " rpy = "1.5708 0 0"/>  
+    <origin xyz= " 0.03 0 -0.08   " rpy = "1.5708 0 3.14"/>  
   </joint>
 
   <joint name="head" type="revolute">