Rotations of the end effector not working properly in UR5 Visual servoing

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Hello everyone. As the title suggests, I am able to to run my visual servoing algorithm in the three linear directions X,Y,Z, and one rotational axis in omega Y, but the other two , omega X,Z are not working. They are working individually, but not in the combined interaction matrix. What could be a reason for this, and a probable solution? I have followed the algorithm in Peter Corke's Robotics Vision and Control. Please help me out.