diff --git a/src/meldog_description/description/links/foot/properties.urdf.xacro b/src/meldog_description/description/links/foot/F_properties.urdf.xacro
similarity index 100%
rename from src/meldog_description/description/links/foot/properties.urdf.xacro
rename to src/meldog_description/description/links/foot/F_properties.urdf.xacro
diff --git a/src/meldog_description/description/links/hip/properties.urdf.xacro b/src/meldog_description/description/links/hip/H_properties.urdf.xacro
similarity index 100%
rename from src/meldog_description/description/links/hip/properties.urdf.xacro
rename to src/meldog_description/description/links/hip/H_properties.urdf.xacro
diff --git a/src/meldog_description/description/links/lower_limb/properties.urdf.xacro b/src/meldog_description/description/links/lower_limb/LL_properties.urdf.xacro
similarity index 91%
rename from src/meldog_description/description/links/lower_limb/properties.urdf.xacro
rename to src/meldog_description/description/links/lower_limb/LL_properties.urdf.xacro
index cce7487..c8618b1 100644
--- a/src/meldog_description/description/links/lower_limb/properties.urdf.xacro
+++ b/src/meldog_description/description/links/lower_limb/LL_properties.urdf.xacro
@@ -5,6 +5,9 @@
     <xacro:property name="lower_limb_vis_stl_name" value="lower_limb_test.stl" />
     <xacro:property name="lower_limb_coll_stl_name" value="lower_limb_collision.stl" />
 
+    <!-- Limb dimensions -->
+    <xacro:property name="lower_limb_length_to_foot" value="0.25" />
+
     <!-- inertial properties -->
 
         <!-- mass -->
diff --git a/src/meldog_description/description/links/upper_limb/properties.urdf.xacro b/src/meldog_description/description/links/upper_limb/UL_properties.urdf.xacro
similarity index 91%
rename from src/meldog_description/description/links/upper_limb/properties.urdf.xacro
rename to src/meldog_description/description/links/upper_limb/UL_properties.urdf.xacro
index bc8bd47..3bb2857 100644
--- a/src/meldog_description/description/links/upper_limb/properties.urdf.xacro
+++ b/src/meldog_description/description/links/upper_limb/UL_properties.urdf.xacro
@@ -5,6 +5,9 @@
     <xacro:property name="upper_limb_vis_stl_name" value="upper_limb_test.stl" />
     <xacro:property name="upper_limb_coll_stl_name" value="upper_limb_collision.stl" />
 
+    <!-- limb dimensions -->
+    <xacro:property name="upper_limb_length" value="0.25" />
+
     <!-- inertial properties -->
 
         <!-- mass -->