From 3830132961f226b7cf3d5035aa6173b29ed2d50a Mon Sep 17 00:00:00 2001
From: Jasper <31923619+jgueldenstein@users.noreply.github.com>
Date: Thu, 4 Jun 2026 11:02:28 +0200
Subject: [PATCH] fix sign in urdf r_ankle_pitch limit

---
 .../piplus_description/urdf/pi_plus_22dof.urdf.xacro            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bitbots_robot/piplus_description/urdf/pi_plus_22dof.urdf.xacro b/src/bitbots_robot/piplus_description/urdf/pi_plus_22dof.urdf.xacro
index 85db3a01e..64ffe57c9 100644
--- a/src/bitbots_robot/piplus_description/urdf/pi_plus_22dof.urdf.xacro
+++ b/src/bitbots_robot/piplus_description/urdf/pi_plus_22dof.urdf.xacro
@@ -579,7 +579,7 @@
     <parent link="r_calf_link" />
     <child link="r_ankle_pitch_link" />
     <axis xyz="0 -1 0" />
-    <limit lower="0.95" upper="0.85" effort="20" velocity="5.45" />
+    <limit lower="-0.95" upper="0.85" effort="20" velocity="5.45" />
     <dynamics damping="0.02" friction="0.0"/>
   </joint>
   <link name="r_ankle_roll_link">