good morning to all please how can I write so that a joint can rotate in two axes when I apply this piece of code for example and I visualize in rviz my robot rotates only one axis

edit

<link name="bras"> <visual> <geometry> <cylinder length="0.4" radius="0.05"/> </geometry> <material name="red"> <color rgba="1 0 0 1"/> </material> </visual> </link>

<joint name="articulation_31" type="revolute"> <axis xyz="1 0 0"/> <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="0.5"/> <origin rpy="0 0 0" xyz="0 0 0.25"/> <parent link="bras"/> <child link="articulation_3"/> </joint>

<joint name="articulation_32" type="revolute"> <axis xyz="0 1 0"/> <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="0.5"/> <origin rpy="0 0 0" xyz="0 0 0.25"/> <parent link="bras"/> <child link="articulation_3"/> </joint>

<link name="articulation_3"> <visual> <geometry> <sphere radius="0.05"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> </link>

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