diff --git a/ur20_moveit_config/config/joint_limits.yaml b/ur20_moveit_config/config/joint_limits.yaml
index 633b7bbce..0220f245b 100644
--- a/ur20_moveit_config/config/joint_limits.yaml
+++ b/ur20_moveit_config/config/joint_limits.yaml
@@ -4,31 +4,31 @@
 joint_limits:
   elbow_joint:
     has_velocity_limits: true
-    max_velocity: 3.1415926535897931
+    max_velocity: !degrees 120.0
     has_acceleration_limits: false
     max_acceleration: 0
   shoulder_lift_joint:
     has_velocity_limits: true
-    max_velocity: 2.0943951023931953
+    max_velocity: !degrees 120.0
     has_acceleration_limits: false
     max_acceleration: 0
   shoulder_pan_joint:
     has_velocity_limits: true
-    max_velocity: 2.0943951023931953
+    max_velocity: !degrees 150.0
     has_acceleration_limits: false
     max_acceleration: 0
   wrist_1_joint:
     has_velocity_limits: true
-    max_velocity: 3.1415926535897931
+    max_velocity: !degrees 210.0
     has_acceleration_limits: false
     max_acceleration: 0
   wrist_2_joint:
     has_velocity_limits: true
-    max_velocity: 3.1415926535897931
+    max_velocity: !degrees 210.0
     has_acceleration_limits: false
     max_acceleration: 0
   wrist_3_joint:
     has_velocity_limits: true
-    max_velocity: 3.1415926535897931
+    max_velocity: !degrees 210.0
     has_acceleration_limits: false
-    max_acceleration: 0
\ No newline at end of file
+    max_acceleration: 0