diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
index 6e2fe0dc3d33b22f4e81202a95fa815e14f2a76c..b23e16f531ce9de313163990b18d3eea8079fd9c 100644
--- a/urdf/sensors.xacro
+++ b/urdf/sensors.xacro
@@ -39,7 +39,7 @@
     </joint>
 
     <xacro:velodyne_vlp16 name="velodyne" parent="${parent}" resolution="high_res" sim_config="$(find iri_ana_gazebo)/config/ana_velodyne_config.yaml">
-      <origin xyz="0.0 0.0 0.1" rpy="0 0 0" />
+      <origin xyz="0.0 0.0 0.1" rpy="0 0 3.14159" />
     </xacro:velodyne_vlp16>
 
     <link name="${name}_realsense_support">
@@ -52,7 +52,7 @@
     </joint>
 
     <xacro:realsense_depth parent="${name}_realsense_support" model="d435" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_config.yaml">
-      <origin xyz="0.0 0.0 0.0265" rpy="0 0.52 0" />
+      <origin xyz="0.0 0.0 0.0265" rpy="0 0.26 0" />
     </xacro:realsense_depth>
 
     <xacro:bno055_imu name="imu" parent="base_footprint" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_bno055_config.yaml">