The fact that the axis 2 is going forward (when motor is not running) is not an issue. It sometimes happens, due to the strength of the torsion spring.
@wodcleaner if you’re able to use the robot now with your configuration, then I can assure you the torsion spring is not upside down (any way you’d have much trouble to assemble it upside down because it simply won’t fit).
This is an improvement we are currently working on, so in the future we might be able to put all the torsion springs with the exact same configuration. (which is not an easy thing)