Some joint properties are not properly imported with URDF

I want to run my custom robot in isaac sim and the robot has been imported from a URDF file. However, some properties in URDF are not imported.

<joint name="joint" type="continuous">
        <axis xyz="0 -1 0"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.076 0.00"/>
        <parent link="link1"/>
        <child link="link2"/>
        <limit lower="-0" upper="3.1" effort="18" velocity="40" />
        <dynamics damping="0.01" friction="0.2"/>

The upper, lower limit and max velocity are not imported properly.
Screenshot from 2022-03-14 22-19-18