diff --git a/openarm_bimanual_description/urdf/openarm_bimanual.urdf b/openarm_bimanual_description/urdf/openarm_bimanual.urdf
index edb0091..815d385 100644
--- a/openarm_bimanual_description/urdf/openarm_bimanual.urdf
+++ b/openarm_bimanual_description/urdf/openarm_bimanual.urdf
@@ -442,28 +442,28 @@
     <child link="right_link2"/>
     <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.7853981633974483" upper="2.0943951023931953" velocity="0.0"/>
   </joint>
   <joint name="right_rev2" type="revolute">
     <parent link="right_link2"/>
     <child link="right_link3"/>
     <origin rpy="-1.5707963267948968 0.0 0.0" xyz="0.0 -0.02975 0.04475"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0" upper="3.141592653589793" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.17453292519943295" upper="2.9670597283903604" velocity="0.0"/>
   </joint>
   <joint name="right_rev3" type="revolute">
     <parent link="right_link3"/>
     <child link="right_link4"/>
     <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-0.52359" upper="3.66519" velocity="0.0"/>
+    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
   </joint>
   <joint name="right_rev4" type="revolute">
     <parent link="right_link4"/>
     <child link="right_link5"/>
     <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
+    <limit effort="0.0" lower="0" upper="2.6179938779914944" velocity="0.0"/>
   </joint>
   <joint name="right_rev5" type="revolute">
     <parent link="right_link5"/>
@@ -484,7 +484,7 @@
     <child link="right_link8"/>
     <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
   </joint>
   <joint name="right_left_pris1" type="prismatic">
     <parent link="right_link8"/>
@@ -800,28 +800,28 @@
     <child link="left_link2"/>
     <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
+    <limit effort="0.0" lower="-2.0943951023931953" upper="0.7853981633974483" velocity="0.0"/>
   </joint>
   <joint name="left_rev2" type="revolute">
     <parent link="left_link2"/>
     <child link="left_link3"/>
     <origin rpy="-1.5707963267948968 0.0 0.0" xyz="0.0 -0.02975 0.04475"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0" upper="3.141592653589793" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.17453292519943295" upper="2.9670597283903604" velocity="0.0"/>
   </joint>
   <joint name="left_rev3" type="revolute">
     <parent link="left_link3"/>
     <child link="left_link4"/>
     <origin rpy="-1.5707963267949054 3.141592653589793 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-3.66519" upper="0.52359" velocity="0.0"/>
+    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
   </joint>
   <joint name="left_rev4" type="revolute">
     <parent link="left_link4"/>
     <child link="left_link5"/>
     <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
+    <limit effort="0.0" lower="0" upper="2.6179938779914944" velocity="0.0"/>
   </joint>
   <joint name="left_rev5" type="revolute">
     <parent link="left_link5"/>
@@ -842,7 +842,7 @@
     <child link="left_link8"/>
     <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
   </joint>
   <joint name="left_left_pris1" type="prismatic">
     <parent link="left_link8"/>
diff --git a/openarm_bimanual_moveit_config/package.xml b/openarm_bimanual_moveit_config/package.xml
index f317b88..8d71cfc 100644
--- a/openarm_bimanual_moveit_config/package.xml
+++ b/openarm_bimanual_moveit_config/package.xml
@@ -34,6 +34,7 @@
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_ros_perception</exec_depend>
   <exec_depend>moveit_setup_assistant</exec_depend>
   <exec_depend>openarm_bimanual_description</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
diff --git a/openarm_description/urdf/openarm.urdf b/openarm_description/urdf/openarm.urdf
index 7d89e8f..af81118 100644
--- a/openarm_description/urdf/openarm.urdf
+++ b/openarm_description/urdf/openarm.urdf
@@ -313,14 +313,14 @@
     <child link="link4"/>
     <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-0.52359" upper="3.66519" velocity="0.0"/>
+    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
   </joint>
   <joint name="rev4" type="revolute">
     <parent link="link4"/>
     <child link="link5"/>
     <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
+    <limit effort="0.0" lower="0" upper="2.6179938779914944" velocity="0.0"/>
   </joint>
   <joint name="rev5" type="revolute">
     <parent link="link5"/>
@@ -341,7 +341,7 @@
     <child link="link8"/>
     <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
   </joint>
   <joint name="left_pris1" type="prismatic">
     <parent link="link8"/>