diff --git a/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py b/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
index 096548afb..2329200a4 100644
--- a/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
+++ b/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
@@ -75,8 +75,8 @@ class RebotB601FollowerConfig:
     # Soft joint limits (degrees). These are clipped against on every action.
     joint_limits: dict[str, tuple[float, float]] = field(
         default_factory=lambda: {
-            "shoulder_pan": (-145.0, 145.0),
-            "shoulder_lift": (-170.0, 1.0),
+            "shoulder_pan": (-150.0, 150.0),
+            "shoulder_lift": (-200.0, 1.0),
             "elbow_flex": (-200.0, 1.0),
             "wrist_flex": (-80.0, 90.0),
             "wrist_yaw": (-90.0, 90.0),
diff --git a/src/lerobot/teleoperators/rebot_102_leader/config_rebot_102_leader.py b/src/lerobot/teleoperators/rebot_102_leader/config_rebot_102_leader.py
index d1beea2ed..81a1c2c39 100644
--- a/src/lerobot/teleoperators/rebot_102_leader/config_rebot_102_leader.py
+++ b/src/lerobot/teleoperators/rebot_102_leader/config_rebot_102_leader.py
@@ -65,7 +65,7 @@ class RebotArm102LeaderConfig:
     joint_ranges: dict[str, list[int]] = field(
         default_factory=lambda: {
             "shoulder_pan": [-150, 150],
-            "shoulder_lift": [-170, 1],
+            "shoulder_lift": [-200, 1],
             "elbow_flex": [-200, 1],
             "wrist_flex": [-80, 90],
             "wrist_yaw": [-90, 90],
diff --git a/tests/robots/test_rebot_b601_follower.py b/tests/robots/test_rebot_b601_follower.py
index 553675be0..e37159854 100644
--- a/tests/robots/test_rebot_b601_follower.py
+++ b/tests/robots/test_rebot_b601_follower.py
@@ -91,9 +91,9 @@ def test_get_observation_converts_to_degrees(follower):
 
 
 def test_send_action_clips_to_joint_limits(follower):
-    # shoulder_pan limit is (-145, 145); request beyond the upper bound.
+    # shoulder_pan limit is (-150, 150); request beyond the upper bound.
     returned = follower.send_action({"shoulder_pan.pos": 999.0})
-    assert returned["shoulder_pan.pos"] == 145.0
+    assert returned["shoulder_pan.pos"] == 150.0
     follower.motors["shoulder_pan"].send_pos_vel.assert_called_once()