Joint limit test world

joint_limits.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="joint_limits">
    <scene>
      <ambient>1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8</background>
    </scene>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="arm">
      <pose>0 0 0.0 0 0 0</pose>
      <link name="base_link">
        <pose>0 0 0.025 0 0 0</pose>
        <inertial auto="true"/>
        <collision name="base_collision">
          <density>1000</density>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.15</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="base_visual">
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.15</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.3 0.3 0.3 1</diffuse>
            <specular>0.3 0.3 0.3 1</specular>
          </material>
        </visual>
      </link>

      <link name="arm_link">
        <pose>-0.25 0 0.16 0 1.5708 0</pose>
        <inertial auto="true"/>
        <collision name="arm_collision">
          <density>1000</density>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.5</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="arm_visual">
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.5</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0 1 0 1</ambient>
            <diffuse>0 1 0 1</diffuse>
            <specular>0 1 0 1</specular>
          </material>
        </visual>
      </link>
      <joint name="world_joint" type="fixed">
        <parent>world</parent>
        <child>base_link</child>
      </joint>
      <joint name="arm_joint" type="revolute">
        <pose>0 0 0.25 0 0 0</pose>
        <parent>base_link</parent>
        <child>arm_link</child>
        <axis>
           <xyz>1 0 0</xyz>
           <limit>
             <lower>0</lower>
             <upper>1.5708</upper>
             <effort>0.3</effort>
             <velocity>1.17</velocity>
           </limit>
           <dynamics>
              <damping>0.0001</damping>
           </dynamics>
        </axis>
      </joint>

      <plugin
        filename="gz-sim-joint-position-controller-system"
        name="gz::sim::systems::JointPositionController">
        <joint_name>arm_joint</joint_name>
        <topic>arm_joint</topic>
        <use_velocity_commands>true</use_velocity_commands>
        <initial_position>1.5708</initial_position>
      </plugin>

    </model>


  </world>
</sdf>