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Revolute2 joint axis2 limits not working?

Has anybody been able to get the limits to work for the second axis on a revolute2 joint? Here is the model SDF I'm using:

<joint name="FL_Joint" type="revolute2">
  <parent>Link1</parent>
  <child>Link2</child>
  <pose>0 0 0 0 0 0</pose>
  <axis>
    <xyz>0 0 1</xyz>
    <limit>
      <lower>-0.785398</lower>
      <upper>0.785398</upper>
    </limit>
  </axis>
  <axis2>
    <xyz>0 1 0</xyz>
    <limit>
      <lower>-0.785398</lower>
      <upper>0.785398</upper>
    </limit>
  </axis2>
</joint>

The limits work for the first axis, but not for the second axis. Any thoughts?

Revolute2 joint axis2 limits not working?

Has anybody been able to get the limits to work for the second axis on a revolute2 joint? Here is the model SDF I'm using:

<joint name="FL_Joint" type="revolute2">
  <parent>Link1</parent>
  <child>Link2</child>
  <pose>0 0 0 0 0 0</pose>
  <axis>
    <xyz>0 0 1</xyz>
    <limit>
      <lower>-0.785398</lower>
      <upper>0.785398</upper>
    </limit>
  </axis>
  <axis2>
    <xyz>0 1 0</xyz>
    <limit>
      <lower>-0.785398</lower>
      <upper>0.785398</upper>
    </limit>
  </axis2>
</joint>

The limits work for the first axis, but not for the second axis. Any thoughts?