diff --git a/src/iiwa_description/urdf/joints.xacro b/src/iiwa_description/urdf/joints.xacro
index 53be5aa..c0b939e 100644
--- a/src/iiwa_description/urdf/joints.xacro
+++ b/src/iiwa_description/urdf/joints.xacro
@@ -11,7 +11,7 @@
 
     <!-- joint1: ±170° hard, ±165° soft, k_velocity=10 -->
     <xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
-                        xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1"
+                        xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 1"
                         lower="-2.97" upper="2.97" effort="200"
                         velocity="1.71" damping="10.0" friction="0.1"
                         soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
@@ -27,7 +27,7 @@
 
     <!-- joint3: ±170° hard, ±165° soft -->
     <xacro:revolute_joint jname="joint3" parent="link2" child="link3"
-                        xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
+                        xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 1"
                         lower="-2.97" upper="2.97" effort="200"
                         velocity="1.75" damping="10.0" friction="0.1"
                         soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
@@ -43,7 +43,7 @@
 
     <!-- joint5: ±170° hard, ±165° soft -->
     <xacro:revolute_joint jname="joint5" parent="link4" child="link5"
-                        xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1"
+                        xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 1"
                         lower="-2.97" upper="2.97" effort="200"
                         velocity="2.44" damping="10.0" friction="0.1"
                         soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>