From 03db9b705e00017c575e8a3f6db0e4505ba9a1a9 Mon Sep 17 00:00:00 2001
From: Jonathan Zamora <jonzamora18@gmail.com>
Date: Thu, 4 Sep 2025 22:23:42 -0700
Subject: [PATCH] fix left_hand.xml thumb_cmc range for LEAP Hand

---
 leap_hand/CHANGELOG.md  | 3 +++
 leap_hand/left_hand.xml | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/leap_hand/CHANGELOG.md b/leap_hand/CHANGELOG.md
index 777c612e..eff1aebd 100644
--- a/leap_hand/CHANGELOG.md
+++ b/leap_hand/CHANGELOG.md
@@ -2,6 +2,9 @@
 
 All notable changes to this model will be documented in this file.
 
+## [2025-09-04]
+- Fixed Left Leap Hand's Thumb CMC range
+
 ## [2025-02-06]
 - Updated appearance of both hand models.
 
diff --git a/leap_hand/left_hand.xml b/leap_hand/left_hand.xml
index b5c94d5c..174867eb 100644
--- a/leap_hand/left_hand.xml
+++ b/leap_hand/left_hand.xml
@@ -128,7 +128,7 @@ Naming Conventions
       <position ctrlrange="-0.366 2.042" />
     </default>
     <default class="thumb_cmc">
-      <joint pos="0 0 0" axis="0 0 -1"
+      <joint pos="0 0 0" axis="0 0 1"
         limited="true" range="-0.349 2.094" />
       <position ctrlrange="-0.349 2.094" />
     </default>