diff --git a/rr_description/urdf/rigatoni.urdf.xacro b/rr_description/urdf/rigatoni.urdf.xacro
index 6ca2f2c4..2c151772 100644
--- a/rr_description/urdf/rigatoni.urdf.xacro
+++ b/rr_description/urdf/rigatoni.urdf.xacro
@@ -254,10 +254,10 @@
 
     <xacro:set_base_footprint_to_link link_name="gps_link" xyz="0.55 0.39 1.22" rpy="0 0 0"/>
 
-    <xacro:set_base_footprint_to_link link_name="camera" xyz="0.61 0.39 1.03" rpy="0 0.4 0"/>
+    <xacro:set_base_footprint_to_link link_name="camera" xyz="0.22 0.065 .59" rpy="0 0 0"/>
 
-    <xacro:set_base_footprint_to_link link_name="imu_bottom_link" xyz="0 0 0.21" rpy="0 0 0"/>
-    <xacro:set_base_footprint_to_link link_name="imu_top_link" xyz="0.60 0.39 0.95" rpy="0 0 0"/>
+    <xacro:set_base_footprint_to_link link_name="imu_bottom_link" xyz=".22 .065 0.97" rpy="0 0 0"/>
+    <xacro:set_base_footprint_to_link link_name="imu_top_link" xyz="-0.53 -0.2 0.2375" rpy="0 0 0"/>
 
     <xacro:set_base_footprint_to_link link_name="april_2" xyz=".48  -0.55 0.26" rpy="0 0 ${pi/2}"/>
     <xacro:set_base_footprint_to_link link_name="april_3" xyz="-.19 -0.43 0.26" rpy="0 0 ${pi/4}"/>
@@ -270,7 +270,7 @@
 
     <!-- Velodyne Puck VLP-16 -->
     <xacro:VLP-16 parent="base_footprint" name="lidar" topic="/velodyne_points" hz="10" samples="500" gpu="true">
-        <origin xyz="1.175 0 0.175" rpy="0 0 0" />
+        <origin xyz=".825 -0.19 0.27875" rpy="0 0 0" />
     </xacro:VLP-16>
 
     <!-- FLIR Blackfly + wide-angle lens -->