diff --git a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py
index 8471f77f..f34611f6 100644
--- a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py
+++ b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py
@@ -69,6 +69,7 @@ def __init__(self, manipulator: BaseManipulator) -> None:
                 self.NAME: manipulator.name,
                 self.PARENT: manipulator.parent,
             }
+            self.parameters.update(manipulator.get_urdf_parameters())
 
         @property
         def name(self) -> str:
@@ -121,7 +122,6 @@ class UniversalRobotsDescription(ArmDescription):
         def __init__(self, arm: BaseArm) -> None:
             super().__init__(arm)
             self.parameters.pop(self.PORT)
-            self.parameters.update(arm.get_urdf_parameters())
 
     class LiftDescription(BaseDescription):