diff --git a/o6/left/linkerhand_o6_left.urdf b/o6/left/linkerhand_o6_left.urdf
index ed7bf58..439e972 100644
--- a/o6/left/linkerhand_o6_left.urdf
+++ b/o6/left/linkerhand_o6_left.urdf
@@ -98,7 +98,7 @@
       xyz="0 0 1" />
     <limit
       lower="0"
-      upper="1.36"
+      upper="1.3"
       effort="100"
       velocity="1" />
   </joint>
@@ -219,7 +219,7 @@
       velocity="1" />
     <mimic
       joint="thumb_cmc_pitch"
-      multiplier="1.86"
+      multiplier="2.29"
       offset="0" />
   </joint>
   <link