diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst
index cbd42a01a..0a765bf58 100644
--- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst
+++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst
@@ -49,7 +49,7 @@ Our multiple arms model has ``right_arm`` and ``left_arm`` robots. Each arm is e
 
 Notes:
 
-1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names.
+1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. Be careful not to use any of the following characters in the prefixes: ``-``, ``[``, ``]``, ``(``, ``)``, ``/``.
 
 2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment.
 
diff --git a/doc/urdf_srdf/urdf_srdf_tutorial.rst b/doc/urdf_srdf/urdf_srdf_tutorial.rst
index 9356b64a9..87a031b51 100644
--- a/doc/urdf_srdf/urdf_srdf_tutorial.rst
+++ b/doc/urdf_srdf/urdf_srdf_tutorial.rst
@@ -18,10 +18,15 @@ This section contains a set of tips on making sure that the URDF that you genera
 
 Special Characters in Joint Names
 """""""""""""""""""""""""""""""""
-Joint names should not contain any of the following special characters: -,[,],(,),
+Joint names should not contain any of the following special characters: ``-``, ``[``, ``]``, ``(``, ``)``.
 
 We hope to be able to get rid of these restrictions on the joint names soon.
 
+Special Characters in Link Names
+"""""""""""""""""""""""""""""""""
+Link names should not contain any of the following characters:  ``-``, ``[``, ``]``, ``(``, ``)``.
+Link names also should not include any ``/`` character, as Moveit will interpret any such slash as a separator for a subframe (see `Subframes <https://ros-planning.github.io/moveit_tutorials/doc/subframes/subframes_tutorial.html#/>`_). We suggest to use ``_``, ``:``, or ``\`` instead.
+
 Safety Limits
 """""""""""""
 Some URDFs have safety limits set in addition to the joint limits of the robot. Here's an example of the safety controller specified for the Panda head pan joint: ::