diff --git a/scripts/hw_node.py b/scripts/hw_node.py
index d4c7d2c..d19e28f 100755
--- a/scripts/hw_node.py
+++ b/scripts/hw_node.py
@@ -81,7 +81,7 @@ class HwNode:
     def publish_table_co(self, event):
         msg = geometry_msgs.msg.PoseStamped()
         msg.header.frame_id = "panda_link0"
-        msg.pose = to_pose_msg(self.T_base_roi * Transform.t([0.15, 0.15, 0.005]))
+        msg.pose = to_pose_msg(self.T_base_roi * Transform.t_[0.15, 0.15, 0.005])
         self.moveit.scene.add_box("table", msg, size=(0.8, 0.8, 0.01))
 
 
diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py
index 8ff95b6..3205f9c 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -140,7 +140,7 @@ class GraspController:
         self.create_collision_scene()
         T_base_grasp = self.postprocess(grasp.pose)
         self.gripper.move(0.08)
-        T_base_approach = T_base_grasp * Transform.t([0, 0, -0.06]) * self.T_grasp_ee
+        T_base_approach = T_base_grasp * Transform.t_[0, 0, -0.06] * self.T_grasp_ee
         success, plan = self.moveit.plan(T_base_approach, 0.2, 0.2)
         if success:
             self.moveit.scene.clear()
@@ -149,7 +149,7 @@ class GraspController:
             self.moveit.gotoL(T_base_grasp * self.T_grasp_ee)
             rospy.sleep(0.5)
             self.gripper.grasp()
-            T_base_retreat = Transform.t([0, 0, 0.05]) * T_base_grasp * self.T_grasp_ee
+            T_base_retreat = Transform.t_[0, 0, 0.05] * T_base_grasp * self.T_grasp_ee
             self.moveit.gotoL(T_base_retreat)
             rospy.sleep(1.0)  # Wait to see whether the object slides out of the hand
             success = self.gripper.read() > 0.002
@@ -194,7 +194,7 @@ class GraspController:
         rot = T_base_grasp.rotation
         if rot.as_matrix()[:, 0][0] < 0:  # Ensure that the camera is pointing forward
             T_base_grasp.rotation = rot * Rotation.from_euler("z", np.pi)
-        T_base_grasp *= Transform.t([0.0, 0.0, 0.01])
+        T_base_grasp *= Transform.t_[0.0, 0.0, 0.01]
         return T_base_grasp
 
     def collect_info(self, result):
diff --git a/src/active_grasp/policy.py b/src/active_grasp/policy.py
index 746af8e..b477405 100644
--- a/src/active_grasp/policy.py
+++ b/src/active_grasp/policy.py
@@ -69,7 +69,7 @@ class Policy:
 
     def calibrate_task_frame(self):
         xyz = np.r_[self.bbox.center[:2] - 0.15, self.bbox.min[2] - 0.05]
-        self.T_base_task = Transform.t(xyz)
+        self.T_base_task = Transform.from_translation(xyz)
         self.T_task_base = self.T_base_task.inv()
         tf.broadcast(self.T_base_task, self.base_frame, self.task_frame)
         rospy.sleep(1.0)  # Wait for tf tree to be updated
diff --git a/src/active_grasp/rviz.py b/src/active_grasp/rviz.py
index 2330045..5a7d5ac 100644
--- a/src/active_grasp/rviz.py
+++ b/src/active_grasp/rviz.py
@@ -90,9 +90,13 @@ class Visualizer(vgn.rviz.Visualizer):
 
         self.draw(markers)
 
-    def point(self, frame, point):
+    def point(self, frame, position):
         marker = create_sphere_marker(
-            frame, Transform.t(point), np.full(3, 0.01), [0, 0, 1], "point"
+            frame,
+            Transform.from_translation(position),
+            np.full(3, 0.01),
+            [0, 0, 1],
+            "point",
         )
         self.draw([marker])
 
diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py
index 4c008a0..634fa82 100644
--- a/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -90,9 +90,9 @@ class Simulation:
         return AABBox(aabb_min, aabb_max)
 
     def check_for_grasps(self, bbox):
-        origin = Transform.t(self.scene.origin)
+        origin = Transform.from_translation(self.scene.origin)
         origin.translation[2] -= 0.05
-        center = Transform.t(self.scene.center)
+        center = Transform.from_translation(self.scene.center)
 
         # First, reconstruct the scene from many views
         tsdf = UniformTSDFVolume(self.scene.length, 40)