diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
index 6afee4fa59..a13fa154bd 100644
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
@@ -24,10 +24,10 @@
 
 package org.photonlib.examples.simposeest.robot;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import org.photonvision.SimVisionTarget;
 
@@ -71,10 +71,10 @@ public class Constants {
 
     // Physical location of the camera on the robot, relative to the center of the
     // robot.
-    public static final Transform2d kCameraToRobot =
-            new Transform2d(
-                    new Translation2d(-0.25, 0), // in meters
-                    new Rotation2d());
+    public static final Transform3d kCameraToRobot =
+            new Transform3d(
+                    new Translation3d(-0.25, 0, -.25), // in meters
+                    new Rotation3d());
 
     // See
     // https://firstfrc.blob.core.windows.net/frc2020/PlayingField/2020FieldDrawing-SeasonSpecific.pdf
@@ -94,9 +94,15 @@ public class Constants {
     public static final double kFarTgtXPos = Units.feetToMeters(54);
     public static final double kFarTgtYPos =
             Units.feetToMeters(27 / 2) - Units.inchesToMeters(43.75) - Units.inchesToMeters(48.0 / 2.0);
-    public static final Pose2d kFarTargetPose =
-            new Pose2d(new Translation2d(kFarTgtXPos, kFarTgtYPos), new Rotation2d(0.0));
+    public static final double kFarTgtZPos =
+            (Units.inchesToMeters(98.19) - targetHeight) / 2 + targetHeight;
+
+    public static final Pose3d kFarTargetPose =
+            new Pose3d(
+                    new Translation3d(kFarTgtXPos, kFarTgtYPos, kFarTgtZPos),
+                    new Rotation3d(0.0, 0.0, Units.degreesToRadians(180)));
 
     public static final SimVisionTarget kFarTarget =
-            new SimVisionTarget(kFarTargetPose, targetHeightAboveGround, targetWidth, targetHeight);
+            new SimVisionTarget(
+                    kFarTargetPose.toPose2d(), targetHeightAboveGround, targetWidth, targetHeight);
 }
diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
index c2f2102c05..3df5eb8ac0 100644
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
@@ -28,8 +28,6 @@
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
@@ -86,15 +84,11 @@ public void update(
 
         var res = cam.getLatestResult();
         if (res.hasTargets()) {
-            double imageCaptureTime = Timer.getFPGATimestamp() - res.getLatencyMillis() / 1000.0;
-            Transform3d camToTargetTrans = res.getBestTarget().getBestCameraToTarget();
-            var transform =
-                    new Transform2d(
-                            camToTargetTrans.getTranslation().toTranslation2d(),
-                            camToTargetTrans.getRotation().toRotation2d());
-            Pose2d camPose = Constants.kFarTargetPose.transformBy(transform.inverse());
+            var imageCaptureTime = Timer.getFPGATimestamp() - res.getLatencyMillis() / 1000.0;
+            var camToTargetTrans = res.getBestTarget().getBestCameraToTarget();
+            var camPose = Constants.kFarTargetPose.transformBy(camToTargetTrans.inverse());
             m_poseEstimator.addVisionMeasurement(
-                    camPose.transformBy(Constants.kCameraToRobot), imageCaptureTime);
+                    camPose.transformBy(Constants.kCameraToRobot).toPose2d(), imageCaptureTime);
         }
     }
 
diff --git a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
index 91c2c7054f..941c6a7eb2 100644
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
@@ -90,7 +90,9 @@ public class DrivetrainSim {
                     Constants.kCamName,
                     camDiagFOV,
                     camPitch,
-                    Constants.kCameraToRobot,
+                    new Transform2d(
+                            Constants.kCameraToRobot.getTranslation().toTranslation2d(),
+                            Constants.kCameraToRobot.getRotation().toRotation2d()),
                     camHeightOffGround,
                     maxLEDRange,
                     camResolutionWidth,