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Thank you guys for your help, it actually work after your comments. This was my Joint_1 :

 <joint name="Joint_1" type="revolute">
 <origin
 xyz="0 0 -0.008"
 rpy="1.5708 0 0" />
<parent link="base_link" />
<child link="Link_1" />
<axis
xyz="0 1 0" />
<limit
 lower="0"
 upper="3.14"
 effort="0"
 velocity="0" />
</joint>

I changed the limit section to this :

<limit
lower="0"
upper="3.14"
effort="2"
velocity="2.0" />

I have other problems like a very annoying shiver (that comes from effort value I think) but It is not for this topic.