diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index 7bda1a949..6c62cd9c2 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -119,8 +119,8 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
             dof6->setLinearLowerLimit(btVector3(0,0,0));
             dof6->setLinearUpperLimit(btVector3(0,0,0));
 
-            dof6->setAngularUpperLimit(btVector3(-1,0,0));
-            dof6->setAngularLowerLimit(btVector3(1,0,0));
+            dof6->setAngularLowerLimit(btVector3(jointLowerLimit,0,0));
+			dof6->setAngularUpperLimit(btVector3(jointUpperLimit,0,0));
 
             break;
         }
@@ -130,8 +130,9 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
             dof6->setLinearLowerLimit(btVector3(0,0,0));
             dof6->setLinearUpperLimit(btVector3(0,0,0));
 
-            dof6->setAngularUpperLimit(btVector3(0,-1,0));
-            dof6->setAngularLowerLimit(btVector3(0,1,0));
+            
+            dof6->setAngularLowerLimit(btVector3(0,jointLowerLimit,0));
+			dof6->setAngularUpperLimit(btVector3(0,jointUpperLimit,0));
             break;
         }
         case 2:
@@ -141,8 +142,9 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createRevoluteJoint(in
             dof6->setLinearLowerLimit(btVector3(0,0,0));
             dof6->setLinearUpperLimit(btVector3(0,0,0));
 
-            dof6->setAngularUpperLimit(btVector3(0,0,-1));
-            dof6->setAngularLowerLimit(btVector3(0,0,1));
+            
+            dof6->setAngularLowerLimit(btVector3(0,0,jointLowerLimit));
+			dof6->setAngularUpperLimit(btVector3(0,0,jointUpperLimit));
 
         }
     };
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index b336659f2..6cfb83106 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -462,14 +462,28 @@ void ConvertURDF2BulletInternal(
                     {
 
 						btGeneric6DofSpring2Constraint* dof6  = 0;
-						//backwards compatibility
-						if (flags & CUF_RESERVED )
+						if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
 						{
-							dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody,  offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
+							//backwards compatibility
+							if (flags & CUF_RESERVED )
+							{
+								dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody,  offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
+							} else
+							{
+								dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
+							}
 						} else
 						{
-							dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
+							//disable joint limits
+							if (flags & CUF_RESERVED )
+							{
+								dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody,  offsetInA, offsetInB,jointAxisInJointSpace,1,-1);
+							} else
+							{
+								dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,1,-1);
+							}
 						}
+						
 						if (enableConstraints)
                                     world1->addConstraint(dof6,true);
                         //b3Printf("Revolute/Continuous joint\n");