Differential Controller : Linear/Angular reversed

Hello All,

I have created a custom two wheel robot. When I hook up the differential drive . The Linear / Angular motion are reversed.
I.e. when I increase angular velocity the robot moved linearly & when I increase linear velocity the robot moves in circles.
Any ideas ? I have attached the URDF & USD files.

Thanks in advance
jeeves_sim.urdf (18.7 KB)
jeeves_sim.usd (76.4 MB)

Found the problem, the axis of one the wheels needed to be reversed