urdf Moveit articulation robot

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I wanna ask you a simple question about where the articulation axis is defined ? or must be defined ? in 'stl' files or in urdf ?

This is from my urdf file

<!-- =================================================================================== -->
<robot name="staubli_tx60">
  <link name="bt">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///meshes/tx60/bt.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.608 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///meshes/tx60/bt.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="bt"/>
    <child link="at1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-2.967060" upper="2.967060" velocity="2.88"/>
  </joint>

  <link name="at1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///meshes/tx60/at1.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.608 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///meshes/tx60/at1.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="joint_2" type="revolute">
    <parent link="at1"/>
    <child link="at2"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-2.4" upper="2.4" velocity="2.62"/>
  </joint>

  <link name="at2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///meshes/tx60/at2.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.608 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///meshes/tx60/at2.stl"/>
      </geometry>
    </collision>
  </link>