diff --git a/Code/robotleg.py b/Code/robotleg.py
index c893b6c..45d7482 100644
--- a/Code/robotleg.py
+++ b/Code/robotleg.py
@@ -42,7 +42,7 @@ class Leg:
         self.visuals.append( Visual('world/' + prefix + 'thigh',jointId,SE3(eye(3),np.array([0., 0., -.5]))))
 
         jointName          = prefix + "knee_joint"
-        jointPlacement     = SE3(eye(3),np.array( [0, 0, 1.0] ))
+        jointPlacement     = SE3(eye(3),np.array( [0, 0, -1.0] ))
         joint              = JointModelRX()
         jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName)
         self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity())
@@ -52,7 +52,7 @@ class Leg:
         self.visuals.append( Visual('world/' + prefix + 'tibia',jointId,SE3(eye(3),np.array([0., 0., -.5]))))
 
         jointName          = prefix + "ankle_joint"
-        jointPlacement     = SE3(eye(3),np.array( [0, 0, 1.0] ))
+        jointPlacement     = SE3(eye(3),np.array( [0, 0, -1.0] ))
         joint              = JointModelRX()
         jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName)
         self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity())