diff --git a/polaris_ranger_ev/model-1_3.sdf b/polaris_ranger_ev/model-1_3.sdf
index 012dcc6..162c85a 100644
--- a/polaris_ranger_ev/model-1_3.sdf
+++ b/polaris_ranger_ev/model-1_3.sdf
@@ -344,7 +344,7 @@
       <pose>0.58 0.14 0.51 0 -1.0 0</pose>
       <gravity>false</gravity>
       <inertial>
-        <mass>1.0</mass>
+        <mass>0.1</mass>
         <pose>0 0 0 0 0 0</pose>
         <inertia>
           <ixx>0.01</ixx>
@@ -385,7 +385,7 @@
       <gravity>false</gravity>
       <pose>0.59 0.27 0.53 0 -1.0 0</pose>
       <inertial>
-        <mass>1</mass>
+        <mass>0.1</mass>
         <pose>0 0 0 0 0 0</pose>
         <inertia>
           <ixx>0.01</ixx>
@@ -551,7 +551,7 @@
         <xyz>1.000000 0.000000 -1.000000</xyz>
         <limit>
           <lower>0.00</lower>
-          <upper>0.06</upper>
+          <upper>0.15</upper>
         </limit>
       </axis>
     </joint>
@@ -562,7 +562,7 @@
         <xyz>1.000000 0.000000 -0.600000</xyz>
         <limit>
           <lower>0.00</lower>
-          <upper>0.05</upper>
+          <upper>0.15</upper>
         </limit>
       </axis>
     </joint>
@@ -585,7 +585,7 @@
         <xyz>0.0 -1.0 0.0</xyz>
         <limit>
           <lower>0</lower>
-          <upper>0.35</upper>
+          <upper>0.6</upper>
         </limit>
       </axis>
     </joint>