From c3b53181f99755dba89ec149945761118bcb8831 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Wed, 1 Jun 2022 15:06:36 +0000
Subject: [PATCH] Automatic build. GitHub Actions build: 2422443932
 icub-model-generator commit:
 robotology/icub-models-generator@fb615eddc6010bf2805538f15045c2d1af3632b5
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@4de30ebf6e6eb33b1f3009c9e5b68f529ff8f2b8

---
 iCub/robots/iCubDarmstadt01/model.urdf     | 2 +-
 iCub/robots/iCubErzelli02/model.urdf       | 2 +-
 iCub/robots/iCubGazeboV2_5/model.urdf      | 2 +-
 iCub/robots/iCubGazeboV2_5_plus/model.urdf | 2 +-
 iCub/robots/iCubGazeboV2_6/model.urdf      | 2 +-
 iCub/robots/iCubGazeboV2_7/model.urdf      | 2 +-
 iCub/robots/iCubGenova01/model.urdf        | 2 +-
 iCub/robots/iCubGenova02/model.urdf        | 2 +-
 iCub/robots/iCubGenova04/model.urdf        | 2 +-
 iCub/robots/iCubGenova04_plus/model.urdf   | 2 +-
 10 files changed, 10 insertions(+), 10 deletions(-)

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"/>