Limit tag for joints

[vkmb]

The URDF renderer doesn't show the joint motions if the limit is not defined in the xml for joint types prismatic and revolute. But the controller ui seems to fallback to limit implementation of the continuous joint. A default limit for prismatic and revolute joints (floating, unknown, planar can be ignored as they don't seem to be supported officially) can be made available.

Jupyter Env Info:

Name	Version	Build	Channel
jupyter	1.0.0	py39h6e9494a_7	conda-forge
jupyter-packaging	0.12.2	pyha770c72_1	conda-forge
jupyter-ros	0.5.0	pyhd8ed1ab_0	robostack
jupyter_client	7.3.4	pyhd8ed1ab_0	conda-forge
jupyter_console	6.4.4	pyhd8ed1ab_0	conda-forge
jupyter_core	4.11.1	py39h6e9494a_0	conda-forge
jupyter_server	1.18.1	pyhd8ed1ab_0	conda-forge
jupyterlab	3.4.4	pyhd8ed1ab_0	conda-forge
jupyterlab-ros	0.2.1	py_0	robostack
jupyterlab-urdf	0.1.1	pyhd8ed1ab_0	conda-forge
jupyterlab_pygments	0.2.2	pyhd8ed1ab_0	conda-forge
jupyterlab_server	2.15.0	pyhd8ed1ab_0	conda-forge
jupyterlab_widgets	1.1.1	pyhd8ed1ab_0	conda-forge

testfile.urdf

<?xml version="1.0" ?>
<robot name="robot3" version="1.0">
    <link name="base_link">
        <visual>
          <origin xyz="0 0 0.5" rpy="0 0 0"/>
          <geometry>
            <box size="15 15 1"/>
          </geometry>
          <material name="red">
            <color rgba="1 0 0 1"/>
          </material>
        </visual>
    </link>
    <link name="link1">
        <visual>
          <origin xyz="0 0 1.5" rpy="0 0 0"/>
          <geometry>
            <box size="1 1 1"/>
          </geometry>
          <material name="blue">
            <color rgba="0 0 1 1"/>
          </material>
        </visual>
    </link>
    <joint name="base_to_link1" type="revolute">
        <origin xyz="-7 7 0" rpy="0 0 0"/>
        <axis xyz="1 0 0"/>
        <parent link="base_link"/>
        <child link="link1"/>
        <limit effort="100" lower="0" upper="14" velocity="1"/>
    </joint>
</robot>