diff --git a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java
index 197dfc7e..9ce5361f 100644
--- a/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java
+++ b/src/main/java/frc/trigon/robot/subsystems/arm/ArmConstants.java
@@ -110,7 +110,7 @@ public class ArmConstants {
     );
 
     static final Pose3d ARM_VISUALIZATION_ORIGIN_POINT = new Pose3d(
-            new Translation3d(0, 0.0954, 0.9517),
+            new Translation3d(0, -0.0954, 0.9517),
             new Rotation3d(0, 0, 0)
     );
 
diff --git a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java
index 0b4db2f6..a0d5d94c 100644
--- a/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc/trigon/robot/subsystems/intake/IntakeConstants.java
@@ -90,9 +90,10 @@ public class IntakeConstants {
     );
 
     static final Pose3d INTAKE_VISUALIZATION_ORIGIN_POINT = new Pose3d(
-            new Translation3d(0, 0.29449, 0.32349),
-            new Rotation3d(0, MINIMUM_ANGLE.getRadians(), 0)
+            new Translation3d(0.3234, 0, 0.2944),
+            new Rotation3d(0, -2.28, 0)
     );
+
     private static final double MAXIMUM_DISPLAYABLE_VELOCITY = 12;
     static final SpeedMechanism2d INTAKE_MECHANISM = new SpeedMechanism2d(
             "IntakeMechanism",