diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
index 0954d8ef..9fe7ccfe 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
@@ -451,6 +451,59 @@ DEF JAXON_JVRC Humanoid {
                               fieldOfView 1.5708
                               sensorId 1
                             }
+                            DEF rs_l515 Joint {
+                              translation 0.140 0.0 -0.015
+                              rotation 0.0 1.0 0.0 0.785398
+                              jointType "fixed"
+                              children [
+                                DEF rs_l515_link Segment {
+                                } #Segment rs_l515_link
+                                DEF rs_l515_color_optical_frame VisionSensor { # for l515
+                                  name "rs_l515_color_optical_frame"
+                                  translation 0.004 -0.000 0.014
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
+                                  rotation 0.582492 -0.58157 -0.567872 2.11931
+                                  type "COLOR"
+                                  sensorId 7
+                                  width 1920
+                                  height 1080
+                                  fieldOfView 0.750492 #43deg (70deg x 43deg)
+                                  frameRate 30
+                                }
+                                DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
+                                  name "rs_l515_depth_optical_frame"
+                                  translation 0.0 0.0 0.0
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
+                                  rotation 0.57735 -0.57735 -0.57735 2.0944
+                                  type "COLOR_DEPTH"
+                                  sensorId 8
+                                  width 1024
+                                  height 768
+                                  fieldOfView 0.959931 #55deg (70deg x 55deg)
+                                  frameRate 30
+                                }
+                              ]
+                            }
+                            DEF rs_t265 Joint {
+                              translation 0.1459 0.00775 0.0085
+                              jointType "fixed"
+                              children [
+                                DEF rs_t265_link Segment {
+                                } #Segment rs_t265_link
+                                DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
+                                  name "rs_t265_fisheye1_optical_frame"
+                                  translation 0.0 0.032 0.0
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
+                                  rotation 0.58051 -0.576581 -0.574946 2.08517
+                                  type "MONO"
+                                  sensorId 9
+                                  width 848
+                                  height 800
+                                  fieldOfView 2.84489 #163deg fisheye like
+                                  frameRate 30
+                                } #VisionSensor rs_t265
+                              ]
+                            }
                             DEF HeadMainLight SpotLightDevice {
                               translation 0.1005 0.035 0.05425
                               # rotation
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
index 9478c147..07040280 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
@@ -451,6 +451,59 @@ DEF JAXON_JVRC Humanoid {
                               fieldOfView 1.5708
                               sensorId 1
                             }
+                            DEF rs_l515 Joint {
+                              translation 0.140 0.0 -0.015
+                              rotation 0.0 1.0 0.0 0.785398
+                              jointType "fixed"
+                              children [
+                                DEF rs_l515_link Segment {
+                                } #Segment rs_l515_link
+                                DEF rs_l515_color_optical_frame VisionSensor { # for l515
+                                  name "rs_l515_color_optical_frame"
+                                  translation 0.004 -0.000 0.014
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
+                                  rotation 0.582492 -0.58157 -0.567872 2.11931
+                                  type "COLOR"
+                                  sensorId 7
+                                  width 1920
+                                  height 1080
+                                  fieldOfView 0.750492 #43deg (70deg x 43deg)
+                                  frameRate 30
+                                }
+                                DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
+                                  name "rs_l515_depth_optical_frame"
+                                  translation 0.0 0.0 0.0
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
+                                  rotation 0.57735 -0.57735 -0.57735 2.0944
+                                  type "COLOR_DEPTH"
+                                  sensorId 8
+                                  width 1024
+                                  height 768
+                                  fieldOfView 0.959931 #55deg (70deg x 55deg)
+                                  frameRate 30
+                                }
+                              ]
+                            }
+                            DEF rs_t265 Joint {
+                              translation 0.1459 0.00775 0.0085
+                              jointType "fixed"
+                              children [
+                                DEF rs_t265_link Segment {
+                                } #Segment rs_t265_link
+                                DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
+                                  name "rs_t265_fisheye1_optical_frame"
+                                  translation 0.0 0.032 0.0
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
+                                  rotation 0.58051 -0.576581 -0.574946 2.08517
+                                  type "MONO"
+                                  sensorId 9
+                                  width 848
+                                  height 800
+                                  fieldOfView 2.84489 #163deg fisheye like
+                                  frameRate 30
+                                } #VisionSensor rs_t265
+                              ]
+                            }
                             DEF HeadMainLight SpotLightDevice {
                               translation 0.1005 0.035 0.05425
                               # rotation
diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
index d2394523..fa451f78 100644
--- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
+++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
@@ -490,6 +490,59 @@ DEF JAXON_JVRC Humanoid {
                               fieldOfView 1.5708
                               sensorId 1
                             }
+                            DEF rs_l515 Joint {
+                              translation 0.140 0.0 -0.015
+                              rotation 0.0 1.0 0.0 0.785398
+                              jointType "fixed"
+                              children [
+                                DEF rs_l515_link Segment {
+                                } #Segment rs_l515_link
+                                DEF rs_l515_color_optical_frame VisionSensor { # for l515
+                                  name "rs_l515_color_optical_frame"
+                                  translation 0.004 -0.000 0.014
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
+                                  rotation 0.582492 -0.58157 -0.567872 2.11931
+                                  type "COLOR"
+                                  sensorId 7
+                                  width 1920
+                                  height 1080
+                                  fieldOfView 0.750492 #43deg (70deg x 43deg)
+                                  frameRate 30
+                                }
+                                DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
+                                  name "rs_l515_depth_optical_frame"
+                                  translation 0.0 0.0 0.0
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
+                                  rotation 0.57735 -0.57735 -0.57735 2.0944
+                                  type "COLOR_DEPTH"
+                                  sensorId 8
+                                  width 1024
+                                  height 768
+                                  fieldOfView 0.959931 #55deg (70deg x 55deg)
+                                  frameRate 30
+                                }
+                              ]
+                            }
+                            DEF rs_t265 Joint {
+                              translation 0.1459 0.00775 0.0085
+                              jointType "fixed"
+                              children [
+                                DEF rs_t265_link Segment {
+                                } #Segment rs_t265_link
+                                DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
+                                  name "rs_t265_fisheye1_optical_frame"
+                                  translation 0.0 0.032 0.0
+                                  # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
+                                  rotation 0.58051 -0.576581 -0.574946 2.08517
+                                  type "MONO"
+                                  sensorId 9
+                                  width 848
+                                  height 800
+                                  fieldOfView 2.84489 #163deg fisheye like
+                                  frameRate 30
+                                } #VisionSensor rs_t265
+                              ]
+                            }
                             DEF HeadMainLight SpotLightDevice {
                               translation 0.1005 0.035 0.05425
                               # rotation