Is there any method to set dof (joint) limit to USD?

Thank you for your help.
I’m trying to use LulaKinematicsSolver, but I got this error.

RuntimeError: [Lula] Invalid 'CSpaceCoord' with name 'j2n6s300_joint_1'. At least one controlled joint must have position limits specified.
[Lula] Invalid 'CSpaceCoord' with name 'j2n6s300_joint_1'. At least one controlled joint must have position limits specified.

I think this error is caused by the arm usd’s dof settings.
My arm settings are follows:

# print(self._jaco2.dof_properties)

[(1, False, -3.4028235e+38, 3.4028235e+38, 0, 0.6283, 2400., 5.0e+03, 5.e+03)
 (1,  True,  8.2030469e-01, 5.4628806e+00, 0, 0.6283, 4800., 5.0e+03, 5.e+03)
 (1,  True,  3.3161253e-01, 5.9515729e+00, 0, 0.6283, 2400., 5.0e+03, 5.e+03)
 (1, False, -3.4028235e+38, 3.4028235e+38, 0, 0.6283, 1200., 5.0e+03, 5.e+03)
 (1, False, -3.4028235e+38, 3.4028235e+38, 0, 0.6283, 1200., 5.0e+03, 5.e+03)
 (1, False, -3.4028235e+38, 3.4028235e+38, 0, 0.6283, 1200., 5.0e+03, 5.e+03)
 (1,  True,  0.0000000e+00, 1.5100000e+00, 0, 1.    ,  120., 1.2e+00, 1.e-02)
 (1,  True,  0.0000000e+00, 1.5100000e+00, 0, 1.    ,  120., 1.2e+00, 1.e-02)
 (1,  True,  0.0000000e+00, 1.5100000e+00, 0, 1.    ,  120., 1.2e+00, 1.e-02)
 (1,  True,  0.0000000e+00, 1.9999999e+00, 0, 1.    ,  120., 1.2e+00, 1.e-02)
 (1,  True,  0.0000000e+00, 1.9999999e+00, 0, 1.    ,  120., 1.2e+00, 1.e-02)
 (1,  True,  0.0000000e+00, 1.9999999e+00, 0, 1.    ,  120., 1.2e+00, 1.e-02)]

Is there any way to set the dof limits from python?
I think max efforts or velocity can be updated, but I can not find the way to update the joint limit.

Ok, I noticed that the problem is not caused by USD.
I have to add limit to URDF file.

By the way, I also found that I can update the joint limit.
Use the low-level API and set the limit to the prim_path.

            UsdPhysics.RevoluteJoint(
                get_prim_at_path(
                    f"{self._root_prim_path}/{self._arm_dof_paths_without_root_prim_path[i]}"
                )
            ).CreateLowerLimitAttr().Set(np.rad2deg(self._arm_joint_lower_limit[i]))
            UsdPhysics.RevoluteJoint(
                get_prim_at_path(
                    f"{self._root_prim_path}/{self._arm_dof_paths_without_root_prim_path[i]}"
                )
            ).CreateUpperLimitAttr().Set(np.rad2deg(self._arm_joint_upper_limit[i]))