diff --git a/matlab/gtsam_examples/Pose3SLAMExample.m b/matlab/gtsam_examples/Pose3SLAMExample.m
index 0d2bd237f..1d9c3b579 100644
--- a/matlab/gtsam_examples/Pose3SLAMExample.m
+++ b/matlab/gtsam_examples/Pose3SLAMExample.m
@@ -21,7 +21,7 @@ p1 = hexagon.at(1);
 fg = NonlinearFactorGraph;
 fg.add(NonlinearEqualityPose3(0, p0));
 delta = p0.between(p1);
-covariance = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]);
+covariance = noiseModel.Diagonal.Sigmas([5*pi/180; 5*pi/180; 5*pi/180; 0.05; 0.05; 0.05]);
 fg.add(BetweenFactorPose3(0,1, delta, covariance));
 fg.add(BetweenFactorPose3(1,2, delta, covariance));
 fg.add(BetweenFactorPose3(2,3, delta, covariance));
diff --git a/matlab/gtsam_examples/Pose3SLAMExample_graph.m b/matlab/gtsam_examples/Pose3SLAMExample_graph.m
index f4eb8dd3a..01df4fc33 100644
--- a/matlab/gtsam_examples/Pose3SLAMExample_graph.m
+++ b/matlab/gtsam_examples/Pose3SLAMExample_graph.m
@@ -21,7 +21,7 @@ dataset = 'sphere2500.txt';
 datafile = findExampleDataFile(dataset);
 
 %% Initialize graph, initial estimate, and odometry noise
-model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]);
+model = noiseModel.Diagonal.Sigmas([5*pi/180; 5*pi/180; 5*pi/180; 0.05; 0.05; 0.05]);
 [graph,initial]=load3D(datafile,model,true,N);
 
 %% Plot Initial Estimate