diff --git a/docs/wrists/img/pitches.png b/docs/wrists/img/pitches.png
index a50f2ae68..bdbd0bdd6 100644
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diff --git a/docs/wrists/img/wrist-yaw-roll.png b/docs/wrists/img/wrist-yaw-roll.png
index b639d155f..29e3408d6 100644
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diff --git a/docs/wrists/wrist_mk2.md b/docs/wrists/wrist_mk2.md
index 35b7c4120..3af8412fc 100644
--- a/docs/wrists/wrist_mk2.md
+++ b/docs/wrists/wrist_mk2.md
@@ -12,10 +12,17 @@
 
 | Joint number | Motors | Identifier    | Type | Parent link | Child link  | Mk2.0 lower limit | Mk2.0 upper limit | Mk2.1 low. l. | Mk2.1 upp. l. | Notes        |
 |--------------|--------|---------------|------|-------------|-------------|-------------------|-------------------|---------------|---------------|--------------|
-|              |        | l_elbow       | ROT  | l_upperarm  | l_forearm   | -                 | -                 | -             | -             | E1 in fig.   |
-|              |        | l_wrist_yaw   | ROT  | l_forearm   | l_wrist_1   | -92°              | 92°               | -92°          | 92°           | W1 in fig.   |
-|              |        | l_wrist_roll  | ROT  | l_wrist_1   | l_wrist_2   | -62°              | 52°               | -33°          | 40°           | W2 in fig.   |
-|              |        | l_wrist_pitch | ROT  | l_wrist_2   | l_hand_palm | -32°              | 32°               | -20°          | 20°           | W3 in fig.   |
+|              |        | l_elbow       | ROT  | l_upperarm  | l_forearm   | -                 | -                 | -             | -             | E1L in fig.  |
+|              |        | l_wrist_yaw   | ROT  | l_forearm   | l_wrist_1   | -92°              | 92°               | -92°          | 92°           | W1L in fig.  |
+|              |        | l_wrist_roll  | ROT  | l_wrist_1   | l_wrist_2   | -62°              | 52°               | -33°          | 40°           | W2L in fig.  |
+|              |        | l_wrist_pitch | ROT  | l_wrist_2   | l_hand_palm | -32°              | 32°               | -20°          | 20°           | W3L in fig.  |
+|              |                        |      |             |             |                   |                   |               |               |              |
+|              |        | r_elbow       | ROT  | r_upperarm  | r_forearm   | -                 | -                 | -             | -             | E1R in fig.  |
+|              |        | r_wrist_yaw   | ROT  | r_forearm   | r_wrist_1   | -                 | -                 | -92°          | 92°           | W1R in fig.  |
+|              |        | r_wrist_roll  | ROT  | r_wrist_1   | r_wrist_2   | -                 | -                 | -40°          | 33°           | W2R in fig.  |
+|              |        | r_wrist_pitch | ROT  | r_wrist_2   | r_hand_palm | -                 | -                 | -20°          | 20°           | W3R in fig.  |
+
+
 
 <p align="center">
   <img  src=    "../img/pitches.png"
@@ -33,4 +40,8 @@
 </p>
 <p align="center">
   <sub>Wrist Mk2 and Elbow joints 2/2</sub>
-</p>
\ No newline at end of file
+</p>
+
+!!! note
+
+    Rotation signs follow the right-hand rule according to the reference system in the figure.
\ No newline at end of file