diff --git a/SW2URDF/URDF/SafetyController.cs b/SW2URDF/URDF/SafetyController.cs
index dcd958c..7aa18f1 100644
--- a/SW2URDF/URDF/SafetyController.cs
+++ b/SW2URDF/URDF/SafetyController.cs
@@ -45,8 +45,8 @@ public double KVelocity
 
         public SafetyController() : base("safety_controller", false)
         {
-            SoftUpperAttribute = new URDFAttribute("soft_upper", false, null);
-            SoftLowerAttribute = new URDFAttribute("soft_lower", false, null);
+            SoftUpperAttribute = new URDFAttribute("soft_upper_limit", false, null);
+            SoftLowerAttribute = new URDFAttribute("soft_lower_limit", false, null);
             KPositionAttribute = new URDFAttribute("k_position", false, null);
             KVelocityAttribute = new URDFAttribute("k_velocity", true, null);
 
@@ -74,4 +74,4 @@ public void SetValues(TextBox boxLower, TextBox boxUpper,
             KVelocityAttribute.SetDoubleValueFromString(boxVelocity.Text);
         }
     }
-}
\ No newline at end of file
+}
diff --git a/SW2URDF/URDFExport/CSV/ContextToColumns.cs b/SW2URDF/URDFExport/CSV/ContextToColumns.cs
index a48cf16..77b3e00 100644
--- a/SW2URDF/URDFExport/CSV/ContextToColumns.cs
+++ b/SW2URDF/URDFExport/CSV/ContextToColumns.cs
@@ -69,10 +69,10 @@ public static class ContextToColumns
             { "Link.Joint.Calibration.falling", "Calibration falling" },
             { "Link.Joint.Dynamics.damping", "Dynamics Damping" },
             { "Link.Joint.Dynamics.friction", "Dynamics Friction" },
-            { "Link.Joint.SafetyController.soft_upper" ,"Safety Soft Upper"},
-            { "Link.Joint.SafetyController.soft_lower", "Safety Soft Lower" },
+            { "Link.Joint.SafetyController.soft_upper_limit" ,"Safety Soft Upper"},
+            { "Link.Joint.SafetyController.soft_lower_limit", "Safety Soft Lower" },
             { "Link.Joint.SafetyController.k_position","Safety K Position"},
             { "Link.Joint.SafetyController.k_velocity","Safety K Velocity"},
         };
     }
-}
\ No newline at end of file
+}