How do I change the orientiation of simulated Lidar and Camera? (Gazebo 9)

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Hi, I'm new to gazebo simulation and was following a tutorial for how to make urdf from scratch and how to input sensors into them. Upon looking at the gazebo, I realized that the camera and lidar was pointing in the wrong direction that I wanted. (Camera to be upwards to be able to read tags in the ceiling and lidar to be infront.) Hence, I was wondering how do you rotate hokuyo's sensor and camera sensors in gazebo?

The simulated robot is made from fusion 360 to URDF. Below is code for camera and urdf for the robot.