Stretch 2 URDF wheel axis fix

stretch_description/batch/mitski/urdf/stretch_main.xacro

@@ -99,8 +99,8 @@
     <child
       link="link_right_wheel" />
     <axis
-      xyz="0 0 -1" />
-    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
   </joint>
 
   <link
@@ -155,8 +155,8 @@
     <child
       link="link_left_wheel" />
     <axis
-      xyz="0 0 -1" />
-    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
   </joint>
 
   <link name="caster_link">

stretch_description/batch/nina/urdf/stretch_main.xacro

@@ -99,8 +99,8 @@
     <child
       link="link_right_wheel" />
     <axis
-      xyz="0 0 -1" />
-    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
   </joint>
 
   <link
@@ -155,8 +155,8 @@
     <child
       link="link_left_wheel" />
     <axis
-      xyz="0 0 -1" />
-    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
   </joint>
 
   <link name="caster_link">

stretch_description/urdf/stretch_main.xacro

@@ -99,7 +99,7 @@
     <child
       link="link_right_wheel" />
     <axis
-      xyz="0 0 -1" />
+      xyz="0 0 1" />
     <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
   </joint>
 
@@ -155,7 +155,7 @@
     <child
       link="link_left_wheel" />
     <axis
-      xyz="0 0 -1" />
+      xyz="0 0 1" />
     <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
   </joint>