diff --git a/L20/LEFT/linkerhand_g20_left.urdf b/L20/LEFT/linkerhand_g20_left.urdf
index da6bb0d..d2685a0 100644
--- a/L20/LEFT/linkerhand_g20_left.urdf
+++ b/L20/LEFT/linkerhand_g20_left.urdf
@@ -89,7 +89,7 @@
     type="revolute">
     <origin
       xyz="0.01916 -0.01 0.0436"
-      rpy="-0.122173047639603 0 0" />
+      rpy="-0.0669047936042155 0 0" />
     <parent
       link="hand_base_link" />
     <child
@@ -147,7 +147,7 @@
     type="revolute">
     <origin
       xyz="0.019845 0 0"
-      rpy="0.771494635674502 0.017384990508633 -0.0178724603975689" />
+      rpy="0.771519235634338 -0.015949629057757 0.0163964520694657" />
     <parent
       link="thumb_metacarpals_base1" />
     <child
@@ -205,7 +205,7 @@
     type="revolute">
     <origin
       xyz="0.0088218 -0.024245 0.0005"
-      rpy="2.22044604925031e-16 -1.01444006 1.9199" />
+      rpy="4.44089209850063e-16 -1.03160184765982 1.9199" />
     <parent
       link="thumb_metacarpals_base2" />
     <child
@@ -391,8 +391,8 @@
     <axis
       xyz="1 0 0" />
     <limit
-      lower="-0.259862986259972"
-      upper="0.256863626259972"
+      lower="-0.23"
+      upper="0.23"
       effort="100"
       velocity="1" />
   </joint>
@@ -450,7 +450,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.23297265625997"
+      upper="1.22"
       effort="100"
       velocity="1" />
   </joint>
@@ -508,7 +508,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.75088443625997"
+      upper="1.74"
       effort="100"
       velocity="1" />
   </joint>
@@ -627,8 +627,8 @@
     <axis
       xyz="1 0 0" />
     <limit
-      lower="-0.259862986259972"
-      upper="0.256863626259972"
+      lower="-0.23"
+      upper="0.23"
       effort="100"
       velocity="1" />
   </joint>
@@ -686,7 +686,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.23297265625997"
+      upper="1.22"
       effort="100"
       velocity="1" />
   </joint>
@@ -744,7 +744,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.75088443625997"
+      upper="1.74"
       effort="100"
       velocity="1" />
   </joint>
@@ -863,8 +863,8 @@
     <axis
       xyz="1 0 0" />
     <limit
-      lower="-0.259862986259972"
-      upper="0.256863626259972"
+      lower="-0.23"
+      upper="0.23"
       effort="100"
       velocity="1" />
   </joint>
@@ -922,7 +922,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.23297265625997"
+      upper="1.22"
       effort="100"
       velocity="1" />
   </joint>
@@ -980,7 +980,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.75088443625997"
+      upper="1.74"
       effort="100"
       velocity="1" />
   </joint>
@@ -1099,8 +1099,8 @@
     <axis
       xyz="1 0 0" />
     <limit
-      lower="-0.259862986259972"
-      upper="0.256863626259972"
+      lower="-0.23"
+      upper="0.23"
       effort="100"
       velocity="1" />
   </joint>
@@ -1158,7 +1158,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.23297265625997"
+      upper="1.22"
       effort="100"
       velocity="1" />
   </joint>
@@ -1216,7 +1216,7 @@
       xyz="0 1 0" />
     <limit
       lower="0"
-      upper="1.75088443625997"
+      upper="1.74"
       effort="100"
       velocity="1" />
   </joint>