diff --git a/build.gradle b/build.gradle
index 6246f3b..b8df103 100644
--- a/build.gradle
+++ b/build.gradle
@@ -5,7 +5,7 @@ plugins {
 }
 
 group 'com.team1816'
-version '0.1.2'
+version '0.1.3'
 
 repositories {
     mavenCentral()
diff --git a/src/commonMain/kotlin/com/team254/lib/geometry/Pose2d.kt b/src/commonMain/kotlin/com/team254/lib/geometry/Pose2d.kt
index ccfeecc..0f7eebd 100644
--- a/src/commonMain/kotlin/com/team254/lib/geometry/Pose2d.kt
+++ b/src/commonMain/kotlin/com/team254/lib/geometry/Pose2d.kt
@@ -23,6 +23,10 @@ class Pose2d : IPose2d<Pose2d> {
         rotation_ = rotation
     }
 
+    constructor(x: Double, y: Double, rotation: Double): this(
+        x, y, Rotation2d.fromDegrees(rotation)
+    )
+
     constructor(translation: Translation2d, rotation: Rotation2d) {
         translation_ = translation
         rotation_ = rotation
diff --git a/src/commonMain/kotlin/com/team254/lib/geometry/Pose2dWithCurvature.kt b/src/commonMain/kotlin/com/team254/lib/geometry/Pose2dWithCurvature.kt
index fdc0e07..db63dd5 100644
--- a/src/commonMain/kotlin/com/team254/lib/geometry/Pose2dWithCurvature.kt
+++ b/src/commonMain/kotlin/com/team254/lib/geometry/Pose2dWithCurvature.kt
@@ -2,6 +2,7 @@ package com.team254.lib.geometry
 
 import com.team254.lib.util.Util
 import com.team254.lib.util.format
+import kotlin.jvm.JvmStatic
 
 class Pose2dWithCurvature : IPose2d<Pose2dWithCurvature>,
     ICurvature<Pose2dWithCurvature> {
@@ -101,6 +102,8 @@ class Pose2dWithCurvature : IPose2d<Pose2dWithCurvature>,
 
     companion object {
         private val kIdentity = Pose2dWithCurvature()
+
+        @JvmStatic
         fun identity(): Pose2dWithCurvature {
             return kIdentity
         }
diff --git a/src/commonMain/kotlin/com/team254/lib/geometry/Translation2d.kt b/src/commonMain/kotlin/com/team254/lib/geometry/Translation2d.kt
index 9111c6e..2f883c1 100644
--- a/src/commonMain/kotlin/com/team254/lib/geometry/Translation2d.kt
+++ b/src/commonMain/kotlin/com/team254/lib/geometry/Translation2d.kt
@@ -139,6 +139,17 @@ class Translation2d : ITranslation2d<Translation2d> {
             return kIdentity
         }
 
+        /**
+         * fromPolar courtesy 1323
+         * @param direction
+         * @param magnitude
+         * @return
+         */
+        @JvmStatic
+        fun fromPolar(direction: Rotation2d, magnitude: Double): Translation2d {
+            return Translation2d(direction.cos() * magnitude, direction.sin() * magnitude)
+        }
+
         @JvmStatic
         fun dot(a: Translation2d, b: Translation2d): Double {
             return a.x_ * b.x_ + a.y_ * b.y_
diff --git a/src/commonMain/kotlin/com/team254/lib/geometry/Twist2d.kt b/src/commonMain/kotlin/com/team254/lib/geometry/Twist2d.kt
index 06b9d83..629d27a 100644
--- a/src/commonMain/kotlin/com/team254/lib/geometry/Twist2d.kt
+++ b/src/commonMain/kotlin/com/team254/lib/geometry/Twist2d.kt
@@ -13,8 +13,9 @@ import kotlin.jvm.JvmStatic
  * A Twist can be used to represent a difference between two poses, a velocity, an acceleration, etc.
  */
 class Twist2d(
-    val dx: Double, val dy: Double, // Radians!
-    val dtheta: Double
+    public val dx: Double,
+    public val dy: Double,
+    public val dtheta: Double // Radians!
 ) {
     fun scaled(scale: Double): Twist2d {
         return Twist2d(dx * scale, dy * scale, dtheta * scale)