diff --git a/include/franky/robot_pose.hpp b/include/franky/robot_pose.hpp
index b4d97362..c01fb482 100644
--- a/include/franky/robot_pose.hpp
+++ b/include/franky/robot_pose.hpp
@@ -30,11 +30,11 @@ class RobotPose {
 
   [[nodiscard]] franka::CartesianPose as_franka_pose() const;
 
-  [[nodiscard]] inline RobotPose left_transform(const Affine &transform) const {
+  [[nodiscard]] inline RobotPose leftTransform(const Affine &transform) const {
     return {transform * end_effector_pose_, elbow_position_};
   }
 
-  [[nodiscard]] inline RobotPose right_transform(const Affine &transform) const {
+  [[nodiscard]] inline RobotPose rightTransform(const Affine &transform) const {
     return {end_effector_pose_ * transform, elbow_position_};
   }
 
@@ -42,7 +42,7 @@ class RobotPose {
     return {end_effector_pose_ * transform, elbow_position_};
   }
 
-  [[nodiscard]] inline RobotPose with_elbow_position(const std::optional<double> elbow_position) const {
+  [[nodiscard]] inline RobotPose withElbowPosition(const std::optional<double> elbow_position) const {
     return {end_effector_pose_, elbow_position};
   }
 
@@ -60,11 +60,11 @@ class RobotPose {
 };
 
 inline RobotPose operator*(const RobotPose &robot_pose, const Affine &right_transform) {
-  return robot_pose.right_transform(right_transform);
+  return robot_pose.rightTransform(right_transform);
 }
 
 inline RobotPose operator*(const Affine &left_transform, const RobotPose &robot_pose) {
-  return robot_pose.left_transform(left_transform);
+  return robot_pose.leftTransform(left_transform);
 }
 
 }  // namespace franky
diff --git a/python/python.cpp b/python/python.cpp
index 485acb00..8037c39f 100644
--- a/python/python.cpp
+++ b/python/python.cpp
@@ -509,7 +509,7 @@ PYBIND11_MODULE(_franky, m) {
            "end_effector_pose"_a,
            "elbow_position"_a = std::nullopt)
       .def(py::init<const RobotPose &>()) // Copy constructor
-      .def("with_elbow_position", &RobotPose::with_elbow_position, "elbow_position"_a)
+      .def("with_elbow_position", &RobotPose::withElbowPosition, "elbow_position"_a)
       .def_property_readonly("end_effector_pose", &RobotPose::end_effector_pose)
       .def_property_readonly("elbow_position", &RobotPose::elbow_position)
       .def("__mul__",
diff --git a/src/motion/cartesian_waypoint_motion.cpp b/src/motion/cartesian_waypoint_motion.cpp
index 59a6adfd..87d3b7c3 100644
--- a/src/motion/cartesian_waypoint_motion.cpp
+++ b/src/motion/cartesian_waypoint_motion.cpp
@@ -84,7 +84,7 @@ void CartesianWaypointMotion::setNewWaypoint(
 
   auto prev_target_robot_pose = target_state_.pose();
   if (!waypoint_pose.elbow_position().has_value()) {
-    prev_target_robot_pose = prev_target_robot_pose.with_elbow_position(robot_state.elbow[0]);
+    prev_target_robot_pose = prev_target_robot_pose.withElbowPosition(robot_state.elbow[0]);
   }
 
   std::optional<double> new_elbow;
@@ -97,7 +97,7 @@ void CartesianWaypointMotion::setNewWaypoint(
   } else {
     new_elbow = waypoint_pose.elbow_position();
   }
-  CartesianState new_target(waypoint_pose.with_elbow_position(new_elbow), new_waypoint.target.velocity());
+  CartesianState new_target(waypoint_pose.withElbowPosition(new_elbow), new_waypoint.target.velocity());
   if (new_waypoint.reference_type == ReferenceType::Relative) {
     new_target = prev_target_robot_pose.end_effector_pose() * new_target;
   }
diff --git a/src/path/aggregated_path.cpp b/src/path/aggregated_path.cpp
index a4a6b02e..fab6b061 100644
--- a/src/path/aggregated_path.cpp
+++ b/src/path/aggregated_path.cpp
@@ -15,7 +15,7 @@ AggregatedPath<7> mk_path_from_waypoints(
   std::vector<std::shared_ptr<LinearPath<7>>> line_segments;
   RobotPose prev_robot_pose = waypoints[0].robot_pose;
   if (!prev_robot_pose.elbow_position().has_value())
-    prev_robot_pose = prev_robot_pose.with_elbow_position(default_initial_elbow_pos);
+    prev_robot_pose = prev_robot_pose.withElbowPosition(default_initial_elbow_pos);
 
   for (size_t i = 1; i < waypoints.size(); i += 1) {
     auto segment = std::make_shared<LinearPath<7>>(