diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch
index 4cb935861..dd1b2382d 100644
--- a/ur_bringup/launch/ur10_bringup.launch
+++ b/ur_bringup/launch/ur10_bringup.launch
@@ -2,7 +2,6 @@
 <!--
   Universal robot ur10 launch.  Loads ur10 robot description (see ur_common.launch
   for more info)
-
   Usage:
     ur10_bringup.launch robot_ip:=<value>
 -->
@@ -11,15 +10,19 @@
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" doc="IP of the controller" />
   <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
-  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
   <arg name="max_payload"  default="20.0" doc="upper payload bound for the robot" />
 
+  <!-- robot model parameters files-->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
+
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
   </include>
-  
+
   <!-- ur common -->
   <include file="$(find ur_bringup)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10e_bringup.launch
similarity index 50%
rename from ur_bringup/launch/ur10_bringup_joint_limited.launch
rename to ur_bringup/launch/ur10e_bringup.launch
index eb0b21ddf..41f6d284e 100644
--- a/ur_bringup/launch/ur10_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur10e_bringup.launch
@@ -1,10 +1,9 @@
 <?xml version="1.0"?>
 <!--
-  Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited'
-  joint range [-PI, PI] on all joints.
-  
+  Universal robot ur10 launch.  Loads ur10 robot description (see ur_common.launch
+  for more info)
   Usage:
-    ur10_bringup_joint_limited.launch robot_ip:=<value>
+    ur10_bringup.launch robot_ip:=<value>
 -->
 <launch>
   
@@ -14,11 +13,22 @@
   <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
   <arg name="max_payload"  default="20.0" doc="upper payload bound for the robot" />
 
-  <include file="$(find ur_bringup)/launch/ur10_bringup.launch">
+  <!-- robot model parameters files-->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur10e_upload.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+  </include>
+
+  <!-- ur common -->
+  <include file="$(find ur_bringup)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
   </include>
+
 </launch>
diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch
index 1ff49cb16..53f576e05 100644
--- a/ur_bringup/launch/ur3_bringup.launch
+++ b/ur_bringup/launch/ur3_bringup.launch
@@ -7,19 +7,23 @@
     ur3_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" doc="IP of the controller" />
   <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
-  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints."/>
   <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
   <arg name="max_payload"  default="3.0" doc="upper payload bound for the robot" />
 
+  <!-- robot model parameters files-->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
+
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
   </include>
-  
+
   <!-- ur common -->
   <include file="$(find ur_bringup)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
@@ -28,4 +32,5 @@
     <arg name="max_payload"  value="$(arg max_payload)"/>
   </include>
 
+
 </launch>
diff --git a/ur_bringup/launch/ur3_bringup_joint_limited.launch b/ur_bringup/launch/ur3e_bringup.launch
similarity index 50%
rename from ur_bringup/launch/ur3_bringup_joint_limited.launch
rename to ur_bringup/launch/ur3e_bringup.launch
index 3194e5b9c..eabd20518 100644
--- a/ur_bringup/launch/ur3_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur3e_bringup.launch
@@ -1,24 +1,36 @@
 <?xml version="1.0"?>
 <!--
-  Universal robot ur3 launch. Wraps ur3_bringup.launch. Uses the 'limited'
-  joint range [-PI, PI] on all joints.
-  
+  Universal robot ur3 launch.  Loads ur3 robot description (see ur_common.launch
+  for more info)
+
   Usage:
-    ur3_bringup_joint_limited.launch robot_ip:=<value>
+    ur3_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" doc="IP of the controller" />
   <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
   <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
   <arg name="max_payload"  default="3.0" doc="upper payload bound for the robot" />
 
-  <include file="$(find ur_bringup)/launch/ur3_bringup.launch">
+  <!-- robot model parameters files-->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur3e_upload.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+  </include>
+
+  <!-- ur common -->
+  <include file="$(find ur_bringup)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
   </include>
+
+
 </launch>
diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch
index 5f9e0f08c..7197761de 100644
--- a/ur_bringup/launch/ur5_bringup.launch
+++ b/ur_bringup/launch/ur5_bringup.launch
@@ -7,17 +7,21 @@
     ur5_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" doc="IP of the controller" />
   <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
-  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
   <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
   <arg name="max_payload"  default="10.0" doc="upper payload bound for the robot" />
 
+  <!-- robot model parameters files-->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
+
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
   </include>
   
   <!-- ur common -->
@@ -28,4 +32,5 @@
     <arg name="max_payload"  value="$(arg max_payload)"/>
   </include>
 
+
 </launch>
diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5e_bringup.launch
similarity index 50%
rename from ur_bringup/launch/ur5_bringup_joint_limited.launch
rename to ur_bringup/launch/ur5e_bringup.launch
index ac39fcd2b..389ae919d 100644
--- a/ur_bringup/launch/ur5_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur5e_bringup.launch
@@ -1,24 +1,36 @@
 <?xml version="1.0"?>
 <!--
-  Universal robot ur5 launch. Wraps ur5_bringup.launch. Uses the 'limited'
-  joint range [-PI, PI] on all joints.
-  
+  Universal robot ur5 launch.  Loads ur5 robot description (see ur_common.launch
+  for more info)
+
   Usage:
-    ur5_bringup_joint_limited.launch robot_ip:=<value>
+    ur5_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip" doc="IP of the controller" />
   <arg name="reverse_port" default="50001" doc="Port on which controller listens for position values passed to servoj thread from the driver" />
   <arg name="min_payload"  default="0.0" doc="lower payload bound for the robot" />
   <arg name="max_payload"  default="10.0" doc="upper payload bound for the robot" />
 
-  <include file="$(find ur_bringup)/launch/ur5_bringup.launch">
+  <!-- robot model parameters files-->
+  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joints_limits_parameters.yaml"/>
+  <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
+
+  <!-- robot model -->
+  <include file="$(find ur_description)/launch/ur5e_upload.launch">
+    <arg name="joints_limits_params" value="$(arg joints_limits_params)"/>
+    <arg name="physical_params" value="$(arg physical_params)"/>
+  </include>
+
+  <!-- ur common -->
+  <include file="$(find ur_bringup)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="limited"  value="true"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
   </include>
+
+
 </launch>
diff --git a/ur_bringup/tests/roslaunch_test.xml b/ur_bringup/tests/roslaunch_test.xml
index 3c80e057f..adf41403b 100644
--- a/ur_bringup/tests/roslaunch_test.xml
+++ b/ur_bringup/tests/roslaunch_test.xml
@@ -2,7 +2,6 @@
 <launch>
   <arg name="robot_ip" value="127.0.0.1" />
   <arg name="reverse_port" default="50001"/>
-  <arg name="limited" default="false"/>
   <arg name="min_payload" default="0.0"/>
   <arg name="max_payload" default="20.0"/>
 
@@ -24,23 +23,23 @@
     </include>
   </group>
 
-  <group ns="ur3_bringup_joint_limited__">
-    <include file="$(find ur_bringup)/launch/ur3_bringup_joint_limited.launch">
+  <group ns="ur3e_bringup__">
+    <include file="$(find ur_bringup)/launch/ur3e_bringup.launch">
       <arg name="robot_ip" value="$(arg robot_ip)" />
     </include>
   </group>
 
-  <group ns="ur5_bringup_joint_limited__">
-    <include file="$(find ur_bringup)/launch/ur5_bringup_joint_limited.launch">
+  <group ns="ur5e_bringup__">
+    <include file="$(find ur_bringup)/launch/ur5e_bringup.launch">
       <arg name="robot_ip" value="$(arg robot_ip)" />
     </include>
   </group>
 
-  <group ns="ur10_bringup_joint_limited__">
-    <include file="$(find ur_bringup)/launch/ur10_bringup_joint_limited.launch">
+  <group ns="ur10e_bringup__">
+    <include file="$(find ur_bringup)/launch/ur10e_bringup.launch">
       <arg name="robot_ip" value="$(arg robot_ip)" />
     </include>
-  </group>
+   </group>
 
   <group ns="ur_common__">
     <include file="$(find ur_bringup)/launch/ur_common.launch">