diff --git a/CHANGELOG.md b/CHANGELOG.md
index 46b43a4f09..48882cf6ac 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -78,6 +78,7 @@
 
   * Added Robot, Manipulator, Hand interfaces, and ConcreteRobot, ConcreteManipulator classes: [#325](https://github.com/personalrobotics/aikido/pull/325), [#392](https://github.com/personalrobotics/aikido/pull/392)
   * Added Kunz timer to Robot class: [#505](https://github.com/personalrobotics/aikido/pull/505)
+  * Made ConcreteRobot limit functions public: [#556](https://github.com/personalrobotics/aikido/pull/556)
 
 * RViz
 
diff --git a/include/aikido/robot/ConcreteRobot.hpp b/include/aikido/robot/ConcreteRobot.hpp
index ea6e50ab03..2fdaefe5ae 100644
--- a/include/aikido/robot/ConcreteRobot.hpp
+++ b/include/aikido/robot/ConcreteRobot.hpp
@@ -251,6 +251,20 @@ class ConcreteRobot : public Robot
   void setCRRTPlannerParameters(
       const util::CRRTPlannerParameters& crrtParameters);
 
+  /// Computes velocity limits from the MetaSkeleton. These should be
+  /// interpreted as absolute in both the positive and negative directions.
+  /// \param[in] metaSkeleton MetaSkeleton to compute limits for.
+  /// \return Symmetric velocity limits.
+  Eigen::VectorXd getVelocityLimits(
+      const dart::dynamics::MetaSkeleton& metaSkeleton) const;
+
+  /// Computes acceleration limits from the MetaSkeleton. These should be
+  /// interpreted as absolute in both the positive and negative directions.
+  /// \param[in] metaSkeleton MetaSkeleton to compute limits for.
+  /// \return Symmetric acceleration limits.
+  Eigen::VectorXd getAccelerationLimits(
+      const dart::dynamics::MetaSkeleton& metaSkeleton) const;
+
 private:
   // Named Configurations are read from a YAML file
   using ConfigurationMap
@@ -258,14 +272,6 @@ class ConcreteRobot : public Robot
 
   std::unique_ptr<aikido::common::RNG> cloneRNG();
 
-  /// Compute velocity limits from the MetaSkeleton
-  Eigen::VectorXd getVelocityLimits(
-      const dart::dynamics::MetaSkeleton& metaSkeleton) const;
-
-  /// Compute acceleration limits from the MetaSkeleton
-  Eigen::VectorXd getAccelerationLimits(
-      const dart::dynamics::MetaSkeleton& metaSkeleton) const;
-
   /// If this robot belongs to another (Composite)Robot,
   /// mRootRobot is the topmost robot containing this robot.
   Robot* mRootRobot;
diff --git a/src/robot/ConcreteRobot.cpp b/src/robot/ConcreteRobot.cpp
index 7a8b4ce28b..29eedc17cf 100644
--- a/src/robot/ConcreteRobot.cpp
+++ b/src/robot/ConcreteRobot.cpp
@@ -247,20 +247,6 @@ void ConcreteRobot::step(const std::chrono::system_clock::time_point& timepoint)
   mTrajectoryExecutor->step(timepoint);
 }
 
-//==============================================================================
-Eigen::VectorXd ConcreteRobot::getVelocityLimits(
-    const MetaSkeleton& metaSkeleton) const
-{
-  return getSymmetricVelocityLimits(metaSkeleton, asymmetryTolerance);
-}
-
-//==============================================================================
-Eigen::VectorXd ConcreteRobot::getAccelerationLimits(
-    const MetaSkeleton& metaSkeleton) const
-{
-  return getSymmetricAccelerationLimits(metaSkeleton, asymmetryTolerance);
-}
-
 // ==============================================================================
 CollisionFreePtr ConcreteRobot::getSelfCollisionConstraint(
     const ConstMetaSkeletonStateSpacePtr& space,
@@ -494,6 +480,20 @@ void ConcreteRobot::setCRRTPlannerParameters(
   mCRRTParameters = crrtParameters;
 }
 
+//==============================================================================
+Eigen::VectorXd ConcreteRobot::getVelocityLimits(
+    const MetaSkeleton& metaSkeleton) const
+{
+  return getSymmetricVelocityLimits(metaSkeleton, asymmetryTolerance);
+}
+
+//==============================================================================
+Eigen::VectorXd ConcreteRobot::getAccelerationLimits(
+    const MetaSkeleton& metaSkeleton) const
+{
+  return getSymmetricAccelerationLimits(metaSkeleton, asymmetryTolerance);
+}
+
 //==============================================================================
 std::unique_ptr<common::RNG> ConcreteRobot::cloneRNG()
 {