diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
index 2d755cdc403fb5d2575d11aae35ffe711f42f608..c86f517671a351d72777dc0eb61bb97bbb3aaf8f 100644
--- a/universal_robot_description/urdf/robot.urdf.xacro
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -53,7 +53,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 0.0 1.0" />
-    <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
   
@@ -82,7 +82,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "upper_arm_link" />
     <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -111,7 +111,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "forearm_link" />
     <origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -140,7 +140,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "wrist_1_link" />
     <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -149,13 +149,13 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
       <geometry>
         <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
       </geometry>
-      <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
+      <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
     </visual>
     <collision>
       <geometry>
         <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
       </geometry>
-      <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
+      <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
     </collision>
     <inertial>
       <mass value="${wrist_1_mass}" />
@@ -169,7 +169,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "wrist_2_link" />
     <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 0.0 1.0" />
-    <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>
 
@@ -198,7 +198,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <child link = "wrist_3_link" />
     <origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 1.0 0.0" />
-    <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+    <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
     <dynamics damping="0.1" friction="0.1"/>
   </joint>