diff --git a/iCub/robots/iCubDarmstadt01/model.urdf b/iCub/robots/iCubDarmstadt01/model.urdf
index 204b2a7..9493284 100644
--- a/iCub/robots/iCubDarmstadt01/model.urdf
+++ b/iCub/robots/iCubDarmstadt01/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubErzelli02/model.urdf b/iCub/robots/iCubErzelli02/model.urdf
index 7ea1114..088bc7d 100644
--- a/iCub/robots/iCubErzelli02/model.urdf
+++ b/iCub/robots/iCubErzelli02/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGazeboV2_5/model.urdf b/iCub/robots/iCubGazeboV2_5/model.urdf
index cdd82ab..2437b72 100644
--- a/iCub/robots/iCubGazeboV2_5/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGazeboV2_5_plus/model.urdf b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
index 444d43d..20052ba 100644
--- a/iCub/robots/iCubGazeboV2_5_plus/model.urdf
+++ b/iCub/robots/iCubGazeboV2_5_plus/model.urdf
@@ -622,7 +622,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index d1b1f40..da434a9 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index be2659d..3410106 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGenova01/model.urdf b/iCub/robots/iCubGenova01/model.urdf
index 204b2a7..9493284 100644
--- a/iCub/robots/iCubGenova01/model.urdf
+++ b/iCub/robots/iCubGenova01/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGenova02/model.urdf b/iCub/robots/iCubGenova02/model.urdf
index f226295..5892a39 100644
--- a/iCub/robots/iCubGenova02/model.urdf
+++ b/iCub/robots/iCubGenova02/model.urdf
@@ -622,7 +622,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGenova04/model.urdf b/iCub/robots/iCubGenova04/model.urdf
index 7ea1114..088bc7d 100644
--- a/iCub/robots/iCubGenova04/model.urdf
+++ b/iCub/robots/iCubGenova04/model.urdf
@@ -1313,7 +1313,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>
diff --git a/iCub/robots/iCubGenova04_plus/model.urdf b/iCub/robots/iCubGenova04_plus/model.urdf
index f226295..5892a39 100644
--- a/iCub/robots/iCubGenova04_plus/model.urdf
+++ b/iCub/robots/iCubGenova04_plus/model.urdf
@@ -622,7 +622,7 @@
   </link>
   <joint name="r_wrist_yaw" type="revolute">
     <origin xyz="0.0006341064996442103 -0.0194999 0.002366518317509704" rpy="0 0 0"/>
-    <axis xyz="2.220446049250313e-16 1.0000000000000002 0.0"/>
+    <axis xyz="-2.220446049250313e-16 -1.0000000000000002 0.0"/>
     <parent link="r_wrist_1"/>
     <child link="r_hand"/>
     <limit effort="50000" lower="-0.3490658503988659" upper="0.4363323129985824" velocity="50000"/>