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I don't have extensive testing bring up physical robots with the solidworks export, but it appears that you will need to rotate the axis of rotation 180°. You can in the exporter, or in the urdf itself flip the direction of your joint axis vector. Because joints further down the tree are dependent on the joints further up, I suggest flipping the first one that appears to be incorrect then checking the ones further down the tree. Put the joints all at 0 degrees, then manually manipulate each joint with a joint controller of some sort, until you notice that one rotates the other way around. It can be frustrating, but some robots just have hardware controllers that rotate in the opposite direction. Kuka is one example I've come across.