diff --git a/src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/BezierEditor.java b/src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/BezierEditor.java
index 6a8da844..36c29945 100644
--- a/src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/BezierEditor.java
+++ b/src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/BezierEditor.java
@@ -228,11 +228,11 @@ private TransformNR updateLines(CartesianManipulator m, CartesianManipulator p,
 		double xyRot = Math.toDegrees(Math.atan2(cp1Ydiff, cp1XDiff)) - 90;
 
 		TransformNR az = new TransformNR(0, 0, 0, new RotationNR(0, -xyRot, 0));
-		TransformNR reorented = az.times(vect);
-		// com.neuronrobotics.sdk.common.Log.error("CP1 "+reorented.getX()+"
-		// "+reorented.getY()+"
-		// "+reorented.getZ());
-		double xzRot = Math.toDegrees(Math.atan2(reorented.getZ(), reorented.getY()));
+		TransformNR reoriented = az.times(vect);
+		// com.neuronrobotics.sdk.common.Log.error("CP1 "+reoriented.getX()+"
+		// "+reoriented.getY()+"
+		// "+reoriented.getZ());
+		double xzRot = Math.toDegrees(Math.atan2(reoriented.getZ(), reoriented.getY()));
 
 		TransformNR pose = new TransformNR(0, 0, 0, new RotationNR(xzRot, xyRot, 0));
 
diff --git a/src/main/java/com/neuronrobotics/bowlerstudio/physics/MobileBasePhysicsManager.java b/src/main/java/com/neuronrobotics/bowlerstudio/physics/MobileBasePhysicsManager.java
index 1c936e01..6aa0a327 100644
--- a/src/main/java/com/neuronrobotics/bowlerstudio/physics/MobileBasePhysicsManager.java
+++ b/src/main/java/com/neuronrobotics/bowlerstudio/physics/MobileBasePhysicsManager.java
@@ -70,7 +70,8 @@ public void update(float timeStep) {
 				TransformFactory.nrToBullet(new TransformNR(gravity.x, gravity.y, gravity.z, new RotationNR()),
 						gravTrans);
 				TransformFactory.nrToBullet(
-						new TransformNR(0, 0, 0, orientation.w, orientation.x, orientation.y, orientation.z), orientTrans);
+						new TransformNR(0, 0, 0, orientation.w, orientation.x, orientation.y, orientation.z),
+						orientTrans);
 				orientTrans.inverse();
 				orientTrans.mul(gravTrans);
 
diff --git a/src/main/java/com/neuronrobotics/bowlerstudio/physics/MuJoCoPhysicsManager.java b/src/main/java/com/neuronrobotics/bowlerstudio/physics/MuJoCoPhysicsManager.java
index 27f23de2..04708be6 100644
--- a/src/main/java/com/neuronrobotics/bowlerstudio/physics/MuJoCoPhysicsManager.java
+++ b/src/main/java/com/neuronrobotics/bowlerstudio/physics/MuJoCoPhysicsManager.java
@@ -154,9 +154,9 @@ public void controlStep(MuJoCoModelManager manager) {
 				String s = iterator.next();
 				if (bodyName.contentEquals(s)) {
 					TransformNR tf = mujocoToTransformNR(manager.getBodyPose(s));
-					Double xAcceleration = Math.toDegrees(tf.getRotation().getRotationTilt());
-					Double yAcceleration = Math.toDegrees(tf.getRotation().getRotationAzimuth());
-					Double zAcceleration = Math.toDegrees(tf.getRotation().getRotationElevation());
+					Double xAcceleration = Math.toDegrees(tf.getRotation().getRotationTiltRadians());
+					Double yAcceleration = Math.toDegrees(tf.getRotation().getRotationAzimuthRadians());
+					Double zAcceleration = Math.toDegrees(tf.getRotation().getRotationElevationRadians());
 
 					Double rotxAcceleration = 0.0;
 					Double rotyAcceleration = 0.0;
diff --git a/src/main/java/com/neuronrobotics/bowlerstudio/physics/TransformFactory.java b/src/main/java/com/neuronrobotics/bowlerstudio/physics/TransformFactory.java
index 87a75753..a3d2e7df 100644
--- a/src/main/java/com/neuronrobotics/bowlerstudio/physics/TransformFactory.java
+++ b/src/main/java/com/neuronrobotics/bowlerstudio/physics/TransformFactory.java
@@ -182,9 +182,9 @@ public static eu.mihosoft.vrl.v3d.Transform nrToCSG(TransformNR nr) {
 
 	public static TransformNR scale(TransformNR incoming, double scale) {
 		return new TransformNR(incoming.getX() * scale, incoming.getY() * scale, incoming.getZ() * scale,
-				new RotationNR(Math.toDegrees(incoming.getRotation().getRotationTilt()) * scale,
-						Math.toDegrees(incoming.getRotation().getRotationAzimuth()) * scale,
-						Math.toDegrees(incoming.getRotation().getRotationElevation()) * scale));
+				new RotationNR(Math.toDegrees(incoming.getRotation().getRotationTiltRadians()) * scale,
+						Math.toDegrees(incoming.getRotation().getRotationAzimuthRadians()) * scale,
+						Math.toDegrees(incoming.getRotation().getRotationElevationRadians()) * scale));
 	}
 
 	public static TransformNR csgToNR(eu.mihosoft.vrl.v3d.Transform csg) {
diff --git a/src/main/java/com/neuronrobotics/bowlerstudio/scripting/FreecadLoader.java b/src/main/java/com/neuronrobotics/bowlerstudio/scripting/FreecadLoader.java
index 550e7b2f..e941454e 100644
--- a/src/main/java/com/neuronrobotics/bowlerstudio/scripting/FreecadLoader.java
+++ b/src/main/java/com/neuronrobotics/bowlerstudio/scripting/FreecadLoader.java
@@ -153,8 +153,9 @@ public static void addSVGToFreeCAD(File freecadModel, File SVG, Transform pose,
 			args.add(freecadModel.getAbsolutePath());
 			args.add(SVG.getAbsolutePath());
 			args.add("\"" + nr.getX() + "," + nr.getY() + "," + nr.getZ() + "\"");
-			args.add("\"" + Math.toDegrees(r.getRotationAzimuth()) + "," + Math.toDegrees(r.getRotationElevation())
-					+ "," + Math.toDegrees(r.getRotationTilt()) + "\"");
+			args.add("\"" + Math.toDegrees(r.getRotationAzimuthRadians()) + ","
+					+ Math.toDegrees(r.getRotationElevationRadians()) + "," + Math.toDegrees(r.getRotationTiltRadians())
+					+ "\"");
 			args.add(name);
 			args.add(bodyName);
 			legacySystemRun(null, export.getAbsoluteFile().getParentFile(), System.out, args);