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I finally found the answer: reading the code joint_state_publisher

minval = float(limit.getAttribute('lower'))
maxval = float(limit.getAttribute('upper'))

..

if minval > 0 or maxval < 0:
zeroval = (maxval + minval)/2

meaning if i wrote in the urdf

<limit effort="1.0" lower="0.001" upper="1.88" velocity="0.5"/>

the robot's zero postition=zeroval (middle)