Move It! polar robot configuration not moving second joint

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Hi all! I'm fighting to create a polar robot configuration with Move It.

The polar robot has 3 joints: rotational, rotational and prismatic.

I have model it in a xacro file and can move it with problems in Rviz with fake controllers.

Rviz simulation

Here is the xacro file of the robot (be care to uncomment the lines for the joint with the world) link

And for launch it, this is the command:

roslaunch arm_description rviz.launch

Then I follow the MoveIt! tutorial for a custom robot (link) and generate all the files correctly, but as you can see in the next video, it only moves the first joint (rotational) and the third joint (prismatic), but not the second one (rotational). Video

And for launch it, this is the command:

roslaunch rrp_moveit demo.launch

I would apreciate some help in trying to fix this problem.

Kinds regards, Jorge

EDIT: This is the workspace for all the project.