diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml
new file mode 100644
index 000000000..9778c2601
--- /dev/null
+++ b/ur_description/config/ur10/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joints_limits_parameters.yaml
deleted file mode 100644
index bdaad3343..000000000
--- a/ur_description/config/ur10/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
-    effort: 330.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
-    effort: 330.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 150.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml
new file mode 100644
index 000000000..0213e8406
--- /dev/null
+++ b/ur_description/config/ur10e/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR10e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joints_limits_parameters.yaml
deleted file mode 100644
index 57a4dc43a..000000000
--- a/ur_description/config/ur10e/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR10e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
-    effort: 330.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
-    effort: 330.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 150.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml
new file mode 100644
index 000000000..65f7d56d3
--- /dev/null
+++ b/ur_description/config/ur16e/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR16e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 330.0
+    max_position: 6.28318530718
+    max_velocity: 2.0943951
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml
deleted file mode 100644
index 2a78995b6..000000000
--- a/ur_description/config/ur16e/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR16e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
-    effort: 330.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 2.0943951
-    effort: 330.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 150.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml
new file mode 100644
index 000000000..e0ff1150b
--- /dev/null
+++ b/ur_description/config/ur3/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - UR3 User Manual, Universal Robots, UR3/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69300/99241_UR3_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 12.0
+    max_position: 6.28318530718
+    max_velocity: 6.28318530718
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 12.0
+    max_position: 6.28318530718
+    max_velocity: 6.28318530718
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 12.0
+    max_position: 6.28318530718
+    max_velocity: 6.28318530718
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joints_limits_parameters.yaml
deleted file mode 100644
index 08c7dc4e5..000000000
--- a/ur_description/config/ur3/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - UR3 User Manual, Universal Robots, UR3/CB3, Version 3.13
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69300/99241_UR3_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 28.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
-    effort: 12.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
-    effort: 12.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
-    effort: 12.0
diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml
new file mode 100644
index 000000000..8d536c13b
--- /dev/null
+++ b/ur_description/config/ur3e/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR3e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69043/99403_UR3e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 56.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 12.0
+    max_position: 6.28318530718
+    max_velocity: 6.28318530718
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 12.0
+    max_position: 6.28318530718
+    max_velocity: 6.28318530718
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 12.0
+    max_position: 6.28318530718
+    max_velocity: 6.28318530718
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joints_limits_parameters.yaml
deleted file mode 100644
index 2b4564b59..000000000
--- a/ur_description/config/ur3e/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR3e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69043/99403_UR3e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 56.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 28.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
-    effort: 12.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
-    effort: 12.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 6.28318530718
-    effort: 12.0
diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml
new file mode 100644
index 000000000..493ea55ec
--- /dev/null
+++ b/ur_description/config/ur5/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joints_limits_parameters.yaml
deleted file mode 100644
index e420f5f11..000000000
--- a/ur_description/config/ur5/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 150.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 150.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 150.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 28.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 28.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 28.0
diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml
new file mode 100644
index 000000000..1e2404272
--- /dev/null
+++ b/ur_description/config/ur5e/joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: 3.14159265359
+    max_velocity: 3.14159265359
+    min_position: -3.14159265359
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: 6.28318530718
+    max_velocity: 3.14159265359
+    min_position: -6.28318530718
diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joints_limits_parameters.yaml
deleted file mode 100644
index 0f0e3f73d..000000000
--- a/ur_description/config/ur5e/joints_limits_parameters.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-# Joints limits
-#
-# Sources:
-#
-#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
-limits:
-  shoulder_pan:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 150.0
-  shoulder_lift:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 150.0
-  elbow_joint:
-    # we artificially limit this joint to half it's actual joint limit to avoid
-    # (MoveIt/OMPL) planning problems, as due to the physical construction of
-    # the robot, it's impossible to rotate the 'elbow_joint' over more than
-    # approx +- 1 pi (the shoulder lift joint gets in the way).
-    #
-    # This leads to planning problems as the search space will be divided into
-    # two sections, with no connections from one to the other.
-    #
-    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
-    # more information.
-    lower: -3.14159265359
-    upper: 3.14159265359
-    velocity: 3.14159265359
-    effort: 150.0
-  wrist_1:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 28.0
-  wrist_2:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 28.0
-  wrist_3:
-    lower: -6.28318530718
-    upper: 6.28318530718
-    velocity: 3.14159265359
-    effort: 28.0
diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch
index 92214fd74..3e459dd52 100644
--- a/ur_description/launch/load_ur.launch
+++ b/ur_description/launch/load_ur.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur parameters files -->
-  <arg name="joints_limits_params" doc="YAML file containing the joints limits values"/>
+  <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
   <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
   <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
   <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
@@ -29,7 +29,7 @@
        to load it onto the parameter server.
   -->
   <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur.xacro'
-    joints_limits_params:=$(arg joints_limits_params)
+    joint_limit_params:=$(arg joint_limit_params)
     kinematics_params:=$(arg kinematics_params)
     physical_params:=$(arg physical_params)
     visual_params:=$(arg visual_params)
diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch
index 8c2151adf..227efdd4e 100644
--- a/ur_description/launch/load_ur10.launch
+++ b/ur_description/launch/load_ur10.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch
index 00edc27b1..6c72e0b62 100644
--- a/ur_description/launch/load_ur10e.launch
+++ b/ur_description/launch/load_ur10e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch
index 4c17cd956..a633e4c1b 100644
--- a/ur_description/launch/load_ur16e.launch
+++ b/ur_description/launch/load_ur16e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch
index 4766180fc..395545f90 100644
--- a/ur_description/launch/load_ur3.launch
+++ b/ur_description/launch/load_ur3.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur3 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch
index 1e2dcac0b..2567cb95d 100644
--- a/ur_description/launch/load_ur3e.launch
+++ b/ur_description/launch/load_ur3e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur3e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch
index 74365ce26..aa5be93ae 100644
--- a/ur_description/launch/load_ur5.launch
+++ b/ur_description/launch/load_ur5.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur5 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch
index 69cfa5e0f..b9368d1da 100644
--- a/ur_description/launch/load_ur5e.launch
+++ b/ur_description/launch/load_ur5e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur5e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joints_limits_parameters.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro
index 6846968b9..33bc54ecd 100644
--- a/ur_description/urdf/inc/ur_common.xacro
+++ b/ur_description/urdf/inc/ur_common.xacro
@@ -27,8 +27,8 @@
           This macro is NOT part of the public API of the ur_description pkg,
           and as such should be considered to be for internal use only.
   -->
-  <xacro:macro name="read_model_data" params="joints_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
-    <xacro:property name="__limits" value="${joints_limits_parameters_file['limits']}"/>
+  <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
+    <xacro:property name="__limits" value="${joint_limits_parameters_file['joint_limits']}"/>
     <xacro:property name="__dh_parameters" value="${physical_parameters_file['dh_parameters']}"/>
     <xacro:property name="__offsets" value="${physical_parameters_file['offsets']}"/>
     <xacro:property name="__inertia_parameters" value="${physical_parameters_file['inertia_parameters']}" />
@@ -36,30 +36,30 @@
     <xacro:property name="__kinematics" value="${kinematics_parameters_file['kinematics']}" />
 
     <!-- JOINTS LIMIT PARAMETERS -->
-    <xacro:property name="shoulder_pan_lower_limit" value="${__limits['shoulder_pan']['lower']}" scope="parent"/>
-    <xacro:property name="shoulder_pan_upper_limit" value="${__limits['shoulder_pan']['upper']}" scope="parent"/>
-    <xacro:property name="shoulder_pan_velocity_limit" value="${__limits['shoulder_pan']['velocity']}" scope="parent"/>
-    <xacro:property name="shoulder_pan_effort_limit" value="${__limits['shoulder_pan']['effort']}" scope="parent"/>
-    <xacro:property name="shoulder_lift_lower_limit" value="${__limits['shoulder_lift']['lower']}" scope="parent"/>
-    <xacro:property name="shoulder_lift_upper_limit" value="${__limits['shoulder_lift']['upper']}" scope="parent"/>
-    <xacro:property name="shoulder_lift_velocity_limit" value="${__limits['shoulder_lift']['velocity']}" scope="parent"/>
-    <xacro:property name="shoulder_lift_effort_limit" value="${__limits['shoulder_lift']['effort']}" scope="parent"/>
-    <xacro:property name="elbow_joint_lower_limit" value="${__limits['elbow_joint']['lower']}" scope="parent"/>
-    <xacro:property name="elbow_joint_upper_limit" value="${__limits['elbow_joint']['upper']}" scope="parent"/>
-    <xacro:property name="elbow_joint_velocity_limit" value="${__limits['elbow_joint']['velocity']}" scope="parent"/>
-    <xacro:property name="elbow_joint_effort_limit" value="${__limits['elbow_joint']['effort']}" scope="parent"/>
-    <xacro:property name="wrist_1_lower_limit" value="${__limits['wrist_1']['lower']}" scope="parent"/>
-    <xacro:property name="wrist_1_upper_limit" value="${__limits['wrist_1']['upper']}" scope="parent"/>
-    <xacro:property name="wrist_1_velocity_limit" value="${__limits['wrist_1']['velocity']}" scope="parent"/>
-    <xacro:property name="wrist_1_effort_limit" value="${__limits['wrist_1']['effort']}" scope="parent"/>
-    <xacro:property name="wrist_2_lower_limit" value="${__limits['wrist_2']['lower']}" scope="parent"/>
-    <xacro:property name="wrist_2_upper_limit" value="${__limits['wrist_2']['upper']}" scope="parent"/>
-    <xacro:property name="wrist_2_velocity_limit" value="${__limits['wrist_2']['velocity']}" scope="parent"/>
-    <xacro:property name="wrist_2_effort_limit" value="${__limits['wrist_2']['effort']}" scope="parent"/>
-    <xacro:property name="wrist_3_lower_limit" value="${__limits['wrist_3']['lower']}" scope="parent"/>
-    <xacro:property name="wrist_3_upper_limit" value="${__limits['wrist_3']['upper']}" scope="parent"/>
-    <xacro:property name="wrist_3_velocity_limit" value="${__limits['wrist_3']['velocity']}" scope="parent"/>
-    <xacro:property name="wrist_3_effort_limit" value="${__limits['wrist_3']['effort']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_lower_limit" value="${__limits['shoulder_pan']['min_position']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_upper_limit" value="${__limits['shoulder_pan']['max_position']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_velocity_limit" value="${__limits['shoulder_pan']['max_velocity']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_effort_limit" value="${__limits['shoulder_pan']['max_effort']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_lower_limit" value="${__limits['shoulder_lift']['min_position']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_upper_limit" value="${__limits['shoulder_lift']['max_position']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_velocity_limit" value="${__limits['shoulder_lift']['max_velocity']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_effort_limit" value="${__limits['shoulder_lift']['max_effort']}" scope="parent"/>
+    <xacro:property name="elbow_joint_lower_limit" value="${__limits['elbow_joint']['min_position']}" scope="parent"/>
+    <xacro:property name="elbow_joint_upper_limit" value="${__limits['elbow_joint']['max_position']}" scope="parent"/>
+    <xacro:property name="elbow_joint_velocity_limit" value="${__limits['elbow_joint']['max_velocity']}" scope="parent"/>
+    <xacro:property name="elbow_joint_effort_limit" value="${__limits['elbow_joint']['max_effort']}" scope="parent"/>
+    <xacro:property name="wrist_1_lower_limit" value="${__limits['wrist_1']['min_position']}" scope="parent"/>
+    <xacro:property name="wrist_1_upper_limit" value="${__limits['wrist_1']['max_position']}" scope="parent"/>
+    <xacro:property name="wrist_1_velocity_limit" value="${__limits['wrist_1']['max_velocity']}" scope="parent"/>
+    <xacro:property name="wrist_1_effort_limit" value="${__limits['wrist_1']['max_effort']}" scope="parent"/>
+    <xacro:property name="wrist_2_lower_limit" value="${__limits['wrist_2']['min_position']}" scope="parent"/>
+    <xacro:property name="wrist_2_upper_limit" value="${__limits['wrist_2']['max_position']}" scope="parent"/>
+    <xacro:property name="wrist_2_velocity_limit" value="${__limits['wrist_2']['max_velocity']}" scope="parent"/>
+    <xacro:property name="wrist_2_effort_limit" value="${__limits['wrist_2']['max_effort']}" scope="parent"/>
+    <xacro:property name="wrist_3_lower_limit" value="${__limits['wrist_3']['min_position']}" scope="parent"/>
+    <xacro:property name="wrist_3_upper_limit" value="${__limits['wrist_3']['max_position']}" scope="parent"/>
+    <xacro:property name="wrist_3_velocity_limit" value="${__limits['wrist_3']['max_velocity']}" scope="parent"/>
+    <xacro:property name="wrist_3_effort_limit" value="${__limits['wrist_3']['max_effort']}" scope="parent"/>
 
     <!-- DH PARAMETERS -->
     <xacro:property name="d1" value="${__dh_parameters['d1']}" scope="parent"/>
diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
index 9f55e1451..dadf5aa80 100644
--- a/ur_description/urdf/ur.xacro
+++ b/ur_description/urdf/ur.xacro
@@ -5,7 +5,7 @@
    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
    <!-- parameters -->
-   <xacro:arg name="joints_limits_params" default=""/>
+   <xacro:arg name="joint_limit_params" default=""/>
    <xacro:arg name="kinematics_params" default=""/>
    <xacro:arg name="physical_params" default=""/>
    <xacro:arg name="visual_params" default=""/>
@@ -22,7 +22,7 @@
    <!-- arm -->
    <xacro:ur_robot
      prefix=""
-     joints_limits_parameters_file="${load_yaml('$(arg joints_limits_params)')}"
+     joint_limits_parameters_file="${load_yaml('$(arg joint_limit_params)')}"
      kinematics_parameters_file="${load_yaml('$(arg kinematics_params)')}"
      physical_parameters_file="${load_yaml('$(arg physical_params)')}"
      visual_parameters_file="${load_yaml('$(arg visual_params)')}"
diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro
index f23fd1186..a78a5e38f 100644
--- a/ur_description/urdf/ur_macro.xacro
+++ b/ur_description/urdf/ur_macro.xacro
@@ -56,7 +56,7 @@
 
   <xacro:macro name="ur_robot" params="
     prefix
-    joints_limits_parameters_file
+    joint_limits_parameters_file
     kinematics_parameters_file
     physical_parameters_file
     visual_parameters_file
@@ -67,7 +67,7 @@
   >
     <!-- Load configuration data from the provided .yaml files -->
     <xacro:read_model_data
-      joints_limits_parameters_file="${joints_limits_parameters_file}" 
+      joint_limits_parameters_file="${joint_limits_parameters_file}" 
       kinematics_parameters_file="${kinematics_parameters_file}"
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"/>
diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch
index 5674291a0..5ef1622d8 100644
--- a/ur_gazebo/launch/ur10.launch
+++ b/ur_gazebo/launch/ur10.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur10e.launch b/ur_gazebo/launch/ur10e.launch
index 21df8cd9c..4fa2a9d5c 100644
--- a/ur_gazebo/launch/ur10e.launch
+++ b/ur_gazebo/launch/ur10e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur16e.launch b/ur_gazebo/launch/ur16e.launch
index 8fd2d5063..d8da8b358 100644
--- a/ur_gazebo/launch/ur16e.launch
+++ b/ur_gazebo/launch/ur16e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch
index 3ded46cb6..5cd48afec 100644
--- a/ur_gazebo/launch/ur3.launch
+++ b/ur_gazebo/launch/ur3.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur3 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur3e.launch b/ur_gazebo/launch/ur3e.launch
index 525952b33..7acbc1e7d 100644
--- a/ur_gazebo/launch/ur3e.launch
+++ b/ur_gazebo/launch/ur3e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur3e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch
index 8c45d5377..7fc1f349a 100644
--- a/ur_gazebo/launch/ur5.launch
+++ b/ur_gazebo/launch/ur5.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur5 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
diff --git a/ur_gazebo/launch/ur5e.launch b/ur_gazebo/launch/ur5e.launch
index 9c9017609..88c0d766c 100644
--- a/ur_gazebo/launch/ur5e.launch
+++ b/ur_gazebo/launch/ur5e.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur5e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joints_limits_parameters.yaml"/>
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>
diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur_robot.urdf.xacro
index 3fb327a78..07a99e1e2 100644
--- a/ur_gazebo/urdf/ur_robot.urdf.xacro
+++ b/ur_gazebo/urdf/ur_robot.urdf.xacro
@@ -3,7 +3,7 @@
        name="ur" >
 
    <!-- common stuff -->
-   <xacro:arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joints_limits_parameters.yaml"/>
+   <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
    <xacro:arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
    <xacro:arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
    <xacro:arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>
@@ -17,7 +17,7 @@
    <xacro:include filename="$(find ur_gazebo)/urdf/common.gazebo.xacro"/>
 
    <!-- arm -->
-   <xacro:ur_gazebo_robot prefix="" joints_limits_parameters_file="${load_yaml('$(arg joints_limits_params)')}" 
+   <xacro:ur_gazebo_robot prefix="" joint_limits_parameters_file="${load_yaml('$(arg joint_limit_params)')}" 
                              kinematics_parameters_file="${load_yaml('$(arg kinematics_params)')}" 
                              physical_parameters_file="${load_yaml('$(arg physical_params)')}" 
                              visual_parameters_file="${load_yaml('$(arg visual_params)')}"
diff --git a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro b/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro
index fce5c83b6..7b851b1f4 100644
--- a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro
+++ b/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro
@@ -7,11 +7,11 @@
 
  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
- <xacro:macro name="ur_gazebo_robot" params="prefix joints_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file 
+ <xacro:macro name="ur_gazebo_robot" params="prefix joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file 
                   transmission_hw_interface:=hardware_interface/PositionJointInterface
                   safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20">
 
-    <xacro:ur_robot prefix="${prefix}" joints_limits_parameters_file="${joints_limits_parameters_file}"
+    <xacro:ur_robot prefix="${prefix}" joint_limits_parameters_file="${joint_limits_parameters_file}"
                     kinematics_parameters_file="${kinematics_parameters_file}"
                     physical_parameters_file="${physical_parameters_file}"
                     visual_parameters_file="${visual_parameters_file}"