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Nope, that cartesian_limits.yaml is for velocities and accelerations and it's only used for the Pilz motion planner. We probably should rename that file to make it more clear - thanks for the reminder.

On ROS2 Rolling or Humble you can use constrained planning to do what you want. Tutorial here:

https://moveit.picknik.ai/main/doc/examples/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.html

To be honest I'm not sure if the "constraint manifolds" planning works in ROS1. Probably not Melodic since it's quite old now.

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