description: they're joint limits.

Not joints limits.

ur_description/launch/load_ur.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur parameters files -->
-  <arg name="joints_limits_params" doc="YAML file containing the joints limits values"/>
+  <arg name="joint_limit_params" doc="YAML file containing the joint limit values"/>
   <arg name="kinematics_params" doc="YAML file containing the robot's kinematic parameters. These will be different for each robot as they contain the robot's calibration."/>
   <arg name="physical_params" doc="YAML file containing the phycical parameters of the robots"/>
   <arg name="visual_params" doc="YAML file containing the visual model of the robots"/>
@@ -29,7 +29,7 @@
        to load it onto the parameter server.
   -->
   <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur.xacro'
-    joints_limits_params:=$(arg joints_limits_params)
+    joint_limit_params:=$(arg joint_limit_params)
     kinematics_params:=$(arg kinematics_params)
     physical_params:=$(arg physical_params)
     visual_params:=$(arg visual_params)

ur_description/launch/load_ur10.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10/visual_parameters.yaml"/>

ur_description/launch/load_ur10e.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur10e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur10e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur10e/visual_parameters.yaml"/>

ur_description/launch/load_ur16e.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur10e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur16e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur16e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur16e/visual_parameters.yaml"/>

ur_description/launch/load_ur3.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur3 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3/visual_parameters.yaml"/>

ur_description/launch/load_ur3e.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur3e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur3e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur3e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur3e/visual_parameters.yaml"/>

ur_description/launch/load_ur5.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur5 parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>

ur_description/launch/load_ur5e.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!--ur5e parameters files -->
-  <arg name="joints_limits_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
+  <arg name="joint_limit_params" default="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   <arg name="kinematics_params" default="$(find ur_description)/config/ur5e/default_kinematics.yaml"/>
   <arg name="physical_params" default="$(find ur_description)/config/ur5e/physical_parameters.yaml"/>
   <arg name="visual_params" default="$(find ur_description)/config/ur5e/visual_parameters.yaml"/>

ur_description/urdf/inc/ur_common.xacro

@@ -27,8 +27,8 @@
           This macro is NOT part of the public API of the ur_description pkg,
           and as such should be considered to be for internal use only.
   -->
-  <xacro:macro name="read_model_data" params="joints_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
-    <xacro:property name="__limits" value="${joints_limits_parameters_file['limits']}"/>
+  <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file">
+    <xacro:property name="__limits" value="${joint_limits_parameters_file['limits']}"/>
     <xacro:property name="__dh_parameters" value="${physical_parameters_file['dh_parameters']}"/>
     <xacro:property name="__offsets" value="${physical_parameters_file['offsets']}"/>
     <xacro:property name="__inertia_parameters" value="${physical_parameters_file['inertia_parameters']}" />

ur_description/urdf/ur.xacro

@@ -5,7 +5,7 @@
    <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 
    <!-- parameters -->
-   <xacro:arg name="joints_limits_params" default=""/>
+   <xacro:arg name="joint_limit_params" default=""/>
    <xacro:arg name="kinematics_params" default=""/>
    <xacro:arg name="physical_params" default=""/>
    <xacro:arg name="visual_params" default=""/>
@@ -22,7 +22,7 @@
    <!-- arm -->
    <xacro:ur_robot
      prefix=""
-     joints_limits_parameters_file="${load_yaml('$(arg joints_limits_params)')}"
+     joint_limits_parameters_file="${load_yaml('$(arg joint_limit_params)')}"
      kinematics_parameters_file="${load_yaml('$(arg kinematics_params)')}"
      physical_parameters_file="${load_yaml('$(arg physical_params)')}"
      visual_parameters_file="${load_yaml('$(arg visual_params)')}"

ur_description/urdf/ur_macro.xacro

@@ -56,7 +56,7 @@
 
   <xacro:macro name="ur_robot" params="
     prefix
-    joints_limits_parameters_file
+    joint_limits_parameters_file
     kinematics_parameters_file
     physical_parameters_file
     visual_parameters_file
@@ -67,7 +67,7 @@
   >
     <!-- Load configuration data from the provided .yaml files -->
     <xacro:read_model_data
-      joints_limits_parameters_file="${joints_limits_parameters_file}" 
+      joint_limits_parameters_file="${joint_limits_parameters_file}" 
       kinematics_parameters_file="${kinematics_parameters_file}"
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"/>