diff --git a/panda_moveit_config/config/hard_joint_limits.yaml b/panda_moveit_config/config/hard_joint_limits.yaml
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+++ b/panda_moveit_config/config/hard_joint_limits.yaml
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+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits, has_jerk_limits]
+# Joint limits set from this config: https://frankaemika.github.io/docs/control_parameters.html
+
+joint_limits:
+  panda_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 15.0
+    has_jerk_limits: false
+  panda_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 7.5
+    has_jerk_limits: false
+  panda_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+    has_jerk_limits: false
+  panda_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 12.5
+    has_jerk_limits: false
+  panda_joint5:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 15.0
+    has_jerk_limits: false
+  panda_joint6:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 20.0
+    has_jerk_limits: false
+  panda_joint7:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 20.0
+    has_jerk_limits: false
+  panda_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.1
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+    has_jerk_limits: false
+  panda_finger_joint2:
+    has_velocity_limits: true
+    max_velocity: 0.1
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+    has_jerk_limits: false