diff --git a/mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf b/mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf
index 0ac77e4..f4168b2 100644
--- a/mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf
+++ b/mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf
@@ -130,7 +130,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 1.5708"/>  
@@ -139,7 +139,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -148,7 +148,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -158,7 +158,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -166,7 +166,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf b/mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf
index 781cfca..0d4ff76 100644
--- a/mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf
+++ b/mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf
@@ -138,7 +138,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@@ -146,7 +146,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>
@@ -155,7 +155,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>
@@ -165,7 +165,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@@ -173,7 +173,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf
index 3506ff7..4f4f59f 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf
@@ -160,7 +160,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
@@ -169,7 +169,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -178,7 +178,7 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -187,7 +187,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -203,7 +203,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf
index 2207b07..feda3e3 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf
@@ -198,7 +198,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
@@ -207,7 +207,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -216,7 +216,7 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -225,7 +225,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -241,7 +241,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
index 24af1e5..59ac748 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
@@ -259,7 +259,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
@@ -267,7 +267,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -275,7 +275,7 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -284,7 +284,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -300,7 +300,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf
index fd731f5..9960b8e 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf
@@ -259,7 +259,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
@@ -267,7 +267,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -275,7 +275,7 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -283,7 +283,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -299,7 +299,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf
index c9ef853..e8d8663 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf
@@ -188,7 +188,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
@@ -197,7 +197,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
@@ -206,7 +206,7 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -215,7 +215,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -231,7 +231,7 @@
 
   <joint name="joint6output_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf
index fedeb5c..67bf0e3 100755
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf
@@ -138,7 +138,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@@ -146,7 +146,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>
@@ -155,7 +155,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>
@@ -165,7 +165,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@@ -173,7 +173,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
index f937b7b..c3e080b 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
@@ -154,7 +154,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>  
@@ -163,7 +163,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
@@ -172,7 +172,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -182,7 +182,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -190,7 +190,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
index c6708ee..11cd3c4 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
@@ -170,7 +170,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>  
@@ -179,7 +179,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
@@ -188,7 +188,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -197,7 +197,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -205,7 +205,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
index 4712a58..dc7c1c7 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
@@ -207,7 +207,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>  
@@ -216,7 +216,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
@@ -225,7 +225,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -234,7 +234,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -242,7 +242,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
index 9b4ab26..c5c470e 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
@@ -194,7 +194,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>  
@@ -203,7 +203,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
@@ -212,7 +212,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
@@ -222,7 +222,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
@@ -230,7 +230,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
index cc47eae..7e204c5 100755
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
@@ -139,7 +139,7 @@
 
   <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 = "-2.9321" upper = "2.9321" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@@ -147,7 +147,7 @@
 
   <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 = "-2.3561" upper = "2.3561" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>
@@ -156,7 +156,7 @@
 
   <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 = "-2.6179" upper = "2.6179" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>
@@ -166,7 +166,7 @@
 
   <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 = "-2.5307" upper = "2.5307" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@@ -174,7 +174,7 @@
 
   <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 = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>