diff --git a/demo/launch/alternative_path_costs.launch.py b/demo/launch/alternative_path_costs.launch.py
index 4e465dd49..33aa1179e 100644
--- a/demo/launch/alternative_path_costs.launch.py
+++ b/demo/launch/alternative_path_costs.launch.py
@@ -16,6 +16,7 @@ def generate_launch_description():
         executable="alternative_path_costs",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,
diff --git a/demo/launch/cartesian.launch.py b/demo/launch/cartesian.launch.py
index fe2db9ac0..e99c283af 100644
--- a/demo/launch/cartesian.launch.py
+++ b/demo/launch/cartesian.launch.py
@@ -15,6 +15,7 @@ def generate_launch_description():
         executable="cartesian",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,
diff --git a/demo/launch/fallbacks_move_to.launch.py b/demo/launch/fallbacks_move_to.launch.py
index 9bd20936b..f52c9f2fe 100644
--- a/demo/launch/fallbacks_move_to.launch.py
+++ b/demo/launch/fallbacks_move_to.launch.py
@@ -11,13 +11,12 @@ def generate_launch_description():
         .to_moveit_configs()
     )
 
-    print(moveit_config.planning_pipelines)
     fallbacks_move_to_task = Node(
         package="moveit_task_constructor_demo",
         executable="fallbacks_move_to",
         output="screen",
         parameters=[
-            moveit_config.cartesian_limits,
+            moveit_config.pilz_cartesian_limits,
             moveit_config.joint_limits,
             moveit_config.planning_pipelines,
             moveit_config.robot_description,
diff --git a/demo/launch/ik_clearance_cost.launch.py b/demo/launch/ik_clearance_cost.launch.py
index 9d2b826db..348624a51 100644
--- a/demo/launch/ik_clearance_cost.launch.py
+++ b/demo/launch/ik_clearance_cost.launch.py
@@ -15,6 +15,7 @@ def generate_launch_description():
         executable="ik_clearance_cost",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,
diff --git a/demo/launch/modular.launch.py b/demo/launch/modular.launch.py
index a4bd7bb2e..2b9cda5ee 100644
--- a/demo/launch/modular.launch.py
+++ b/demo/launch/modular.launch.py
@@ -15,6 +15,7 @@ def generate_launch_description():
         executable="modular",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,