diff --git a/src/lite6_controller/launch/lite6_gazebo.launch.py b/src/lite6_controller/launch/lite6_gazebo.launch.py
index 91087a1..985c39b 100644
--- a/src/lite6_controller/launch/lite6_gazebo.launch.py
+++ b/src/lite6_controller/launch/lite6_gazebo.launch.py
@@ -302,7 +302,7 @@ def launch_setup(context, *args, **kwargs):
     # FIX acceleration limits
     for i in range(1,7):
         joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
 
     kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
     #kinematics_yaml['kinematics_solver'] = 'lma_kinematics_plugin/LMAKinematicsPlugin'
@@ -336,6 +336,12 @@ def launch_setup(context, *args, **kwargs):
         prefix=prefix.perform(context))
 
 
+    robot_description_parameters['cartesian_limits'] = {}
+    robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
+    robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
+    robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
+    robot_description_parameters['cartesian_limits']['max_rot_vel'] =  1.57
+
 
     # Planning pipeline
     # https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py
diff --git a/src/lite6_controller/launch/lite6_real.launch.py b/src/lite6_controller/launch/lite6_real.launch.py
index d8ec192..56b1380 100644
--- a/src/lite6_controller/launch/lite6_real.launch.py
+++ b/src/lite6_controller/launch/lite6_real.launch.py
@@ -154,6 +154,12 @@ def launch_setup(context, *args, **kwargs):
     ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
     kinematics_yaml = robot_description_parameters['robot_description_kinematics']
 
+    robot_description_parameters['cartesian_limits'] = {}
+    robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
+    robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
+    robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
+    robot_description_parameters['cartesian_limits']['max_rot_vel'] =  1.57
+
     #kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
     #kinematics_yaml['kinematics_solver_search_resolution'] = 0.005
     #kinematics_yaml['kinematics_solver_timeout'] = 0.005
@@ -182,7 +188,7 @@ def launch_setup(context, *args, **kwargs):
     # FIX acceleration limits
     for i in range(1,7):
         joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
 
     add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
     add_prefix_to_moveit_params(
diff --git a/src/lite6_controller/launch/lite6_real_no_gui.launch.py b/src/lite6_controller/launch/lite6_real_no_gui.launch.py
index 2ddcf70..6d2de17 100644
--- a/src/lite6_controller/launch/lite6_real_no_gui.launch.py
+++ b/src/lite6_controller/launch/lite6_real_no_gui.launch.py
@@ -158,7 +158,7 @@ def launch_setup(context, *args, **kwargs):
     # FIX acceleration limits
     for i in range(1,7):
         joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
 
     if add_gripper.perform(context) in ('True', 'true'):
         gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
@@ -182,6 +182,12 @@ def launch_setup(context, *args, **kwargs):
         kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
         prefix=prefix.perform(context))
 
+    robot_description_parameters['cartesian_limits'] = {}
+    robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1
+    robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
+    robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
+    robot_description_parameters['cartesian_limits']['max_rot_vel'] =  1.57
+
     # Planning Configuration
     ompl_planning_pipeline_config = {
         'move_group': {