diff --git a/robots/solo_description/robots/solo.urdf b/robots/solo_description/robots/solo.urdf
index a32d660d933d22c40bb2f46098341fb2aa0c9e7d..6c335fb1832182237dbab2fce2b0f8a04a12ab6e 100644
--- a/robots/solo_description/robots/solo.urdf
+++ b/robots/solo_description/robots/solo.urdf
@@ -234,7 +234,7 @@
   <link name="FR_LOWER_LEG">
     <!-- Right lower leg inertia -->
     <inertial>
-      <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+      <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
       <mass value="0.03070001"/>
       <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
     </inertial>
@@ -504,7 +504,7 @@
   <link name="HR_LOWER_LEG">
     <!-- Right lower leg inertia -->
     <inertial>
-      <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+      <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
       <mass value="0.03070001"/>
       <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
     </inertial>
diff --git a/robots/solo_description/robots/solo12.urdf b/robots/solo_description/robots/solo12.urdf
index 80d0e76dd12110797b7a867522aa2dae42f9577d..ecd62e9eecb8e6ce39a401e30cfaec6a9008ba95 100644
--- a/robots/solo_description/robots/solo12.urdf
+++ b/robots/solo_description/robots/solo12.urdf
@@ -312,7 +312,7 @@
   <link name="FR_LOWER_LEG">
     <!-- Right lower leg inertia -->
     <inertial>
-      <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+      <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
       <mass value="0.03070001"/>
       <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
     </inertial>
@@ -660,7 +660,7 @@
   <link name="HR_LOWER_LEG">
     <!-- Right lower leg inertia -->
     <inertial>
-      <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+      <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
       <mass value="0.03070001"/>
       <inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
     </inertial>