diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index 3a6eaa5..21bfe47 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -125,7 +125,7 @@
 
   <!-- Joints: main serial chain -->
   <joint name="joint_1" type="revolute">
-    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
+    <limit lower="-2.705" upper="2.705" effort="0" velocity="0"/>
     <origin rpy="0 0 0" xyz="0.011789 -0.0278 0.26158" />
     <parent link="base_link" />
     <child link="link_1" />
@@ -133,14 +133,15 @@
   </joint>
 
   <joint name="joint_2" type="revolute">
-    <limit effort="0" lower="-1.270" upper="0.590" velocity="3.1415" />    <parent link="link_1" />
+    <limit lower="-2.444" upper="1.134" effort="0" velocity="0"/>
+    <parent link="link_1" />
     <child link="link_2" />
     <axis xyz="0 -1 0" />
     <origin rpy="0 0 0" xyz="0.168621 -0.103 0.23445" />
   </joint>
 
   <joint name="joint_3" type="revolute">
-    <limit effort="0" lower="-0.596" upper="0.873" velocity="3.1415" />
+    <limit lower="-1.309" upper="1.919" effort="0" velocity="0"/>
     <parent link="link_2" />
     <child link="link_3" />
     <axis xyz="0 -1 0" />
@@ -148,7 +149,7 @@
   </joint>
 
   <joint name="joint_4" type="revolute">
-    <limit effort="0" lower="-2.338" upper="2.338" velocity="3.1415" />
+    <limit lower="-3.142" upper="3.142" effort="0" velocity="0"/>
     <parent link="link_3" />
     <child link="link_4" />
     <axis xyz="1 0 0" />
@@ -156,15 +157,15 @@
   </joint>
 
   <joint name="joint_5" type="revolute">
-    <limit effort="0" lower="-1.149" upper="1.149" velocity="3.1415" />
+    <limit lower="-2.007" upper="2.007" effort="0" velocity="0"/>
     <parent link="link_4" />
     <child link="link_5" />
     <axis xyz="0 1 0" />
-    <origin rpy="0 0 0" xyz="0.867755 -0.037912 0.0021" />
+    <origin rpy="0 0 0" xyz="0.867755 0.037912 0.000177" />
   </joint>
 
   <joint name="joint_6" type="revolute">
-    <limit effort="0" lower="-7.226" upper="7.226" velocity="3.1415" />
+    <limit lower="-6.283" upper="6.283" effort="0" velocity="0"/>
     <parent link="link_5" />
     <child link="link_6" />
     <axis xyz="1 0 0" />