diff --git a/interfaces/GenericSensor/GenericSensor.proto b/interfaces/GenericSensor/GenericSensor.proto
index bff038ddbc540d50f8b0ba0ec9aaf5c1c9dd1f71..05c26bcac3c08fd817d8ca50a19919e5e3f6ed67 100644
--- a/interfaces/GenericSensor/GenericSensor.proto
+++ b/interfaces/GenericSensor/GenericSensor.proto
@@ -74,12 +74,10 @@ message OtherBeaconRawDataEvent {
 message IMURawDataEvent {
 	string timestamp = 1;
 	string sensorId = 2;
-	float yaw = 3; // angular rate (rad/s), https://en.wikipedia.org/wiki/Aircraft_principal_axes#Transverse_axis_(pitch)
-	float pitch = 4;
-	float roll = 5;
-	float x = 6; // linear acceleration, m/(s^2)
-	float y = 7;
-	float z = 8;
+	IposSimpleOrientation orientation = 3;
+	float x = 4; // linear acceleration, m/(s^2)
+	float y = 5;
+	float z = 6;
 }
 
 message SensorPositionEvent {
diff --git a/interfaces/SimpleScene/SimpleScene.proto b/interfaces/SimpleScene/SimpleScene.proto
index 39a89aa2b2f563e89b4c57e0195c3bf8905129c9..5d3f8ccfa9452578a34fe635b6266c61468c5cb5 100644
--- a/interfaces/SimpleScene/SimpleScene.proto
+++ b/interfaces/SimpleScene/SimpleScene.proto
@@ -87,6 +87,7 @@ message POI { // point-of-interest
   string description = 2; // e.g., "tag"
   map<string, string> data = 3; // e.g., "tag-id" -> "b315332984"; "type" -> "nfc"
   IposPosition position = 4;
+  IposSimpleOrientation orientation = 5;
 }
 
 message IposSpace {