diff --git a/src/App.tsx b/src/App.tsx
index ced890c69..5cee05826 100644
--- a/src/App.tsx
+++ b/src/App.tsx
@@ -158,7 +158,6 @@ class App extends React.Component<Props, State> {
 
     this.onAuthStateChangedSubscription_ = auth.onAuthStateChanged(user => {
       if (user) {
-        console.log('User detected.');
         this.props.loadUser(user.uid);
         this.props.setMe(user.uid);
         // Ensure user has obtained consent before continuing
@@ -166,16 +165,13 @@ class App extends React.Component<Props, State> {
           .then(userConsent => {
             const consentStatus = LegalAcceptance.getConsentStatus(userConsent?.legalAcceptance);
             if (consentStatus === 'valid') {
-              console.log('Consent verified');
               this.setState({ loading: false });
             } else {
-              console.log('Consent not verified, status is', consentStatus);
               this.props.login();
             }
           })
           .catch(error => {
             if (DbError.is(error) && error.code === DbError.CODE_NOT_FOUND) {
-              console.log('Consent info does not exist');
               this.props.login();
             }
 
@@ -189,19 +185,6 @@ class App extends React.Component<Props, State> {
     });
   }
 
-  componentDidUpdate(prevProps: Props, prevState: State) {
-
-    const uid = auth.currentUser?.uid;
-    if (!uid) return;
-
-    const prev = prevProps.users.users?.[uid];
-    const next = this.props.users.users?.[uid];
-
-    if (prev !== next && next?.type === 5) {
-      console.log("User state changed:", next);
-    }
-  }
-
   componentWillUnmount(): void {
     this.onAuthStateChangedSubscription_();
     this.onAuthStateChangedSubscription_ = null;
@@ -273,7 +256,6 @@ export default connect((state: ReduxState) => {
   };
 }, dispatch => ({
   login: () => {
-    console.log('Redirecting to login page', window.location.pathname);
     window.location.href = `/login${window.location.pathname === '/login' ? '' : `?from=${window.location.pathname}`}`;
   },
   setMe: (me: string) => dispatch(UsersAction.setMe({ me })),
diff --git a/src/pages/Root.tsx b/src/pages/Root.tsx
index 43b06dadc..40335a50c 100644
--- a/src/pages/Root.tsx
+++ b/src/pages/Root.tsx
@@ -300,7 +300,6 @@ class Root extends React.Component<Props, State> {
 
   constructor(props: Props) {
     super(props);
-    console.log("Root props:", this.props);
     this.state = {
       layout: Layout.Side,
       activeLanguage: 'c',
@@ -341,7 +340,6 @@ class Root extends React.Component<Props, State> {
     this.editorRef = React.createRef();
     this.overlayLayoutRef = React.createRef();
     Space.getInstance().scene = Async.latestValue(props.scene) || Scene.EMPTY;
-    console.log("simulatorRootTourSteps:", this.state.simulatorRootTourSteps);
   }
 
   async componentDidMount() {
@@ -496,9 +494,6 @@ class Root extends React.Component<Props, State> {
           : 'stopped';
     }
 
-    if (this.props.projects !== prevProps.projects) {
-      console.log('Projects prop changed:', this.props.projects);
-    }
     if (this.props.locale !== prevProps.locale) {
       this.setState({ simulatorRootTourSteps: getSimulatorTourSteps(this.props.locale) });
     }
@@ -555,12 +550,14 @@ class Root extends React.Component<Props, State> {
       },
       () => {
         window.localStorage.setItem(`code-${activeLanguage}`, code);
-        this.props.onSetProjectCode(
-          projectDetails ? projectDetails.project : null,
-          projectDetails ? projectDetails.fileName : '',
-          projectDetails ? projectDetails.fileType : 'src',
-          code,
-        );
+        if (projectDetails.project) {
+          this.props.onSetProjectCode(
+            projectDetails.project,
+            projectDetails.fileName,
+            projectDetails.fileType,
+            code,
+          );
+        }
       },
     );
   };
@@ -1141,10 +1138,6 @@ class Root extends React.Component<Props, State> {
         },
       },
       () => {
-        console.log(
-          'Updated code state after file selection:',
-          this.state.code,
-        );
         window.localStorage.setItem(
           `code-${selectedProject.projectLanguage}`,
           fileContent,
@@ -1212,7 +1205,6 @@ class Root extends React.Component<Props, State> {
       userDataFiles: {},
       type: 'project',
     };
-    console.log('onProjectCreate_: ', project);
     this.props.onAddProject(project);
 
     this.setState({
@@ -1221,7 +1213,6 @@ class Root extends React.Component<Props, State> {
   };
 
   private onFileCreate_ = (fileName: string) => {
-    console.log('onFileCreate_ state: ', this.state);
     let fileN = fileName;
     const { projectDetails, activeLanguage } = this.state;
     switch (projectDetails.fileType) {
@@ -1836,7 +1827,6 @@ const ConnectedRoot = connect(
     onNodeRemove: (nodeId: string) =>
       dispatch(ScenesAction.removeNode({ sceneId, nodeId })),
     onNodeChange: (nodeId: string, node: Node) => {
-      console.log("onNodeChange: ", nodeId, node);
       dispatch(ScenesAction.setNode({ sceneId, nodeId, node }));
       const origin = node.origin;
       const updateOrigin = true;
diff --git a/src/programming/SharedRegistersRobot.ts b/src/programming/SharedRegistersRobot.ts
index 1fb912a3e..cde0d35d4 100644
--- a/src/programming/SharedRegistersRobot.ts
+++ b/src/programming/SharedRegistersRobot.ts
@@ -167,7 +167,7 @@ export class SharedRegistersRobot implements AbstractRobot {
       this.sharedResisters_.setRegister16b(RegisterState.REG_RW_MOT_0_PWM_H + i * 2, motor.direction === Motor.Direction.Backward ? -motor.pwm : motor.pwm);
       this.sharedResisters_.setRegister32b(RegisterState.REG_W_MOT_0_GOAL_B3 + i * 4, motor.positionGoal * SharedRegistersRobot.POSITION_GOAL_SCALING);
       this.sharedResisters_.setRegister16b(RegisterState.REG_RW_MOT_0_SP_H + i * 2, motor.speedGoal);
-      this.sharedResisters_.setRegister32b(RegisterState.REG_RW_MOT_0_B3 + i * 4, motor.position);
+      this.sharedResisters_.setRegister32b(RegisterState.REG_RW_MOT_0_B3 + i * 4, motor.position * SharedRegistersRobot.POSITION_GOAL_SCALING);
 
       this.sharedResisters_.setRegister16b(RegisterState.REG_W_PID_0_P_H + i * 12, Math.trunc(motor.kP * 1000));
       this.sharedResisters_.setRegister16b(RegisterState.REG_W_PID_0_PD_H + i * 12, 1000);
@@ -193,4 +193,4 @@ export class SharedRegistersRobot implements AbstractRobot {
   }
 }
 
-export default SharedRegistersRobot;
\ No newline at end of file
+export default SharedRegistersRobot;
diff --git a/src/programming/WorkerInstance.ts b/src/programming/WorkerInstance.ts
index 40cfa7dac..f1c9c920f 100644
--- a/src/programming/WorkerInstance.ts
+++ b/src/programming/WorkerInstance.ts
@@ -143,6 +143,12 @@ class WorkerInstance implements AbstractRobot {
   private watchedVariables_: Dict<unknown> = {};
   get watchedVariables() { return this.watchedVariables_; }
 
+  private resetMotorSpeedGoals_() {
+    for (let port = 0; port < 4; ++port) {
+      this.sharedRegisters_.setRegister16b(Registers.REG_RW_MOT_0_SP_H + port * 2, 0);
+    }
+  }
+
   /**
    * Internal method to handle the 'stopped' event.
    * Resets specific registers and triggers the onStopped event if defined.
@@ -157,6 +163,7 @@ class WorkerInstance implements AbstractRobot {
     this.sharedRegisters_.setRegister8b(Registers.REG_RW_MOT_DIRS, 0xFF);
     this.sharedRegisters_.setRegister8b(Registers.REG_RW_MOT_DONE, 0);
     this.sharedRegisters_.setRegister8b(Registers.REG_RW_MOT_SRV_ALLSTOP, 0xF0);
+    this.resetMotorSpeedGoals_();
 
     if (this.onStopped) {
       this.onStopped();
@@ -213,6 +220,7 @@ class WorkerInstance implements AbstractRobot {
     this.sharedRegisters_.setRegister8b(Registers.REG_RW_MOT_MODES, 0x00);
     this.sharedRegisters_.setRegister8b(Registers.REG_RW_MOT_DIRS, 0x00);
     this.sharedRegisters_.setRegister8b(Registers.REG_RW_MOT_SRV_ALLSTOP, 0xF0);
+    this.resetMotorSpeedGoals_();
 
     // Send start message to worker
     // Clones message and transmits it to worker's global environment. 
@@ -248,4 +256,4 @@ class WorkerInstance implements AbstractRobot {
   }
 }
 
-export default new WorkerInstance();
\ No newline at end of file
+export default new WorkerInstance();
diff --git a/src/simulator/babylonBindings/RobotBinding.ts b/src/simulator/babylonBindings/RobotBinding.ts
index cd07d9c1e..23bf197cd 100644
--- a/src/simulator/babylonBindings/RobotBinding.ts
+++ b/src/simulator/babylonBindings/RobotBinding.ts
@@ -38,6 +38,8 @@ import SensorObject from './sensors/SensorObject';
 import SensorParameters from './sensors/SensorParameters';
 import LightSensor from './sensors/LightSensor';
 import LocalizedString from '../../util/LocalizedString';
+import { incrementalHingeRotation, parentRelativeOrientation } from './motorPosition';
+import { motorPwm } from './motorPwm';
 
 /** Max mesh vertices sampled per link when building mat footprints. */
 const MAX_PROJECTED_VERTICES_PER_LINK_ = 800;
@@ -86,7 +88,12 @@ class RobotBinding {
   get createBinding() { return this.createBinding_; }
 
   private lastTick_ = 0;
-  private lastMotorAngles_: [number, number, number, number] = [0, 0, 0, 0];
+  private lastMotorOrientations_: [RawQuaternion?, RawQuaternion?, RawQuaternion?, RawQuaternion?] = [
+    undefined,
+    undefined,
+    undefined,
+    undefined,
+  ];
 
   // Getting sensor values is async. We store the pending promises in these dictionaries.
   private outstandingDigitalGetValues_: Dict<RobotBinding.OutstandingPromise<boolean>> = {};
@@ -168,20 +175,15 @@ class RobotBinding {
     };
   };
 
-  /**
-   * Gets the angle between the parent and child links.
-   * Currently only supports angles between -90 and 90 degrees.
-   * TODO: Fix this to support angles between -180 and 180 degrees.
-   * @param id
-   * @param parentId
-   * @returns
-   */
-  private hingeAngle_ = (id: string, parentId: string): number => {
+  private motorOrientation_ = (id: string, parentId: string): RawQuaternion => {
     const { bParent, bChild } = this.bParentChild_(id, parentId);
-    const parentZ = bParent.rotationQuaternion.toEulerAngles().x;
-    const childZ = bChild.rotationQuaternion.toEulerAngles().x;
-    const diff = childZ - parentZ; // Between -90 and 90 degrees
-    return diff;
+    bParent.computeWorldMatrix(true);
+    bChild.computeWorldMatrix(true);
+
+    return parentRelativeOrientation(
+      RawQuaternion.fromBabylon(bParent.absoluteRotationQuaternion),
+      RawQuaternion.fromBabylon(bChild.absoluteRotationQuaternion),
+    );
   };
 
 
@@ -251,31 +253,22 @@ class RobotBinding {
       const bMotor = this.motors_[motorId]; // The actual motor object. (Physics6DoFConstraint)
       const ticksPerRevolution = motorNode.ticksPerRevolution ?? 2048;
 
-      // TODO: Fix wheel orientation in MotorBindings so plug is needed.
-      // const plug = (motorNode.plug === undefined || motorNode.plug === 'normal') ? 1 : -1;
-      const plug = 1;
-
-      const currentAngle = this.hingeAngle_(motorId, motorNode.parentId);
-      const lastMotorAngle = this.lastMotorAngles_[port];
+      const plug = motorNode.plug === Node.Motor.Plug.Inverted ? -1 : 1;
+      const currentOrientation = this.motorOrientation_(motorId, motorNode.parentId);
+      const lastMotorOrientation = this.lastMotorOrientations_[port];
+      const hingeAxis = RawVector3.cross(motorNode.parentAxis, motorNode.parentPerpAxis);
 
       let deltaAngle = 0;
-      if (lastMotorAngle > Math.PI / 2 && currentAngle < -Math.PI / 2) {
-        deltaAngle = currentAngle + 2 * Math.PI - lastMotorAngle;
-      } else if (lastMotorAngle < -Math.PI / 2 && currentAngle > Math.PI / 2) {
-        deltaAngle = currentAngle - 2 * Math.PI - lastMotorAngle;
-      } else {
-        deltaAngle = currentAngle - lastMotorAngle;
+      if (lastMotorOrientation) {
+        deltaAngle = incrementalHingeRotation(
+          lastMotorOrientation,
+          currentOrientation,
+          hingeAxis,
+        );
       }
-      this.lastMotorAngles_[port] = currentAngle;
+      this.lastMotorOrientations_[port] = currentOrientation;
 
-      const angularVelocity = deltaAngle / delta;
-
-      // if speedgoal is positive make deltaAngle positive
-      if (speedGoal > 0) {
-        deltaAngle = Math.abs(deltaAngle);
-      } else if (speedGoal < 0) {
-        deltaAngle = -1 * Math.abs(deltaAngle);
-      }
+      const angularVelocity = delta > 0 ? deltaAngle / delta : 0;
 
       // Convert to ticks
       const positionDeltaRaw = plug * deltaAngle / (2 * Math.PI) * ticksPerRevolution + this.positionDeltaFracs_[port];
@@ -361,11 +354,13 @@ class RobotBinding {
         this.iErrs_[port] = 0;
       }
 
-      pwm = plug * clamp(-400, pwm, 400);
+      const clampedPwm = motorPwm(pwm, plug);
 
-      if (writePwm) writeCommands.push(WriteCommand.motorPwm({ port, pwm }));
+      if (writePwm) {
+        writeCommands.push(WriteCommand.motorPwm({ port, pwm: clampedPwm.logical }));
+      }
 
-      const normalizedPwm = pwm / 400;
+      const normalizedPwm = clampedPwm.physical / 400;
       const nextAngularVelocity = normalizedPwm * velocityMax * 2 * Math.PI / ticksPerRevolution;
       // console.log("nextAngularVelocity", nextAngularVelocity);
       this.setMotorVelocity_(bMotor, nextAngularVelocity);
@@ -410,7 +405,6 @@ class RobotBinding {
         }
       }
 
-      const currentAngle = this.hingeAngle_(servoId, servo.parentId);
       const targetAangle = this.lastServoEnabledAngle_[i];
 
       let cur_angle = 0;
@@ -661,6 +655,9 @@ class RobotBinding {
     this.lastPErrs_ = [0, 0, 0, 0];
     this.iErrs_ = [0, 0, 0, 0];
     this.brakeAt_ = [undefined, undefined, undefined, undefined];
+    this.lastMotorOrientations_ = [undefined, undefined, undefined, undefined];
+    this.positionDeltaFracs_ = [0, 0, 0, 0];
+    this.lastTick_ = performance.now();
 
     const rawOrigin = ReferenceFramewUnits.toRaw(newOrigin, RENDER_SCALE);
     const rawInternalOrigin = ReferenceFramewUnits.toRaw(this.robot_.origin || ReferenceFramewUnits.IDENTITY, RENDER_SCALE);
diff --git a/src/simulator/babylonBindings/motorPosition.ts b/src/simulator/babylonBindings/motorPosition.ts
new file mode 100644
index 000000000..79e06f066
--- /dev/null
+++ b/src/simulator/babylonBindings/motorPosition.ts
@@ -0,0 +1,62 @@
+import { RawQuaternion, RawVector3 } from '../../util/math/math';
+
+const normalizeQuaternion = (q: RawQuaternion): RawQuaternion => {
+  const length = Math.sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
+  return RawQuaternion.create(q.x / length, q.y / length, q.z / length, q.w / length);
+};
+
+const multiplyQuaternions = (lhs: RawQuaternion, rhs: RawQuaternion): RawQuaternion => RawQuaternion.create(
+  lhs.w * rhs.x + lhs.x * rhs.w + lhs.y * rhs.z - lhs.z * rhs.y,
+  lhs.w * rhs.y - lhs.x * rhs.z + lhs.y * rhs.w + lhs.z * rhs.x,
+  lhs.w * rhs.z + lhs.x * rhs.y - lhs.y * rhs.x + lhs.z * rhs.w,
+  lhs.w * rhs.w - lhs.x * rhs.x - lhs.y * rhs.y - lhs.z * rhs.z,
+);
+
+const inverseQuaternion = (q: RawQuaternion): RawQuaternion => {
+  const lengthSquared = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
+  return RawQuaternion.create(
+    -q.x / lengthSquared,
+    -q.y / lengthSquared,
+    -q.z / lengthSquared,
+    q.w / lengthSquared,
+  );
+};
+
+/**
+ * Returns the orientation of a child in its parent's coordinate system.
+ * Unlike subtracting Euler angles, this is unaffected by the robot's world pose.
+ */
+export const parentRelativeOrientation = (
+  parentOrientation: RawQuaternion,
+  childOrientation: RawQuaternion,
+): RawQuaternion => normalizeQuaternion(multiplyQuaternions(
+  inverseQuaternion(parentOrientation),
+  childOrientation,
+));
+
+/**
+ * Measures the signed hinge rotation between two parent-relative orientations.
+ * The quaternion delta is reduced to its twist around the hinge axis so small
+ * amounts of swing introduced by the physics solver do not affect the encoder.
+ */
+export const incrementalHingeRotation = (
+  previousOrientation: RawQuaternion,
+  currentOrientation: RawQuaternion,
+  hingeAxis: RawVector3,
+): number => {
+  let delta = normalizeQuaternion(multiplyQuaternions(
+    currentOrientation,
+    inverseQuaternion(previousOrientation),
+  ));
+
+  // q and -q describe the same orientation. Choose the representation whose
+  // rotation is at most PI so a quaternion sign change cannot add a revolution.
+  if (delta.w < 0) {
+    delta = RawQuaternion.create(-delta.x, -delta.y, -delta.z, -delta.w);
+  }
+
+  const axis = RawVector3.normalize(hingeAxis);
+  const projectedSinHalfAngle = RawVector3.dot(RawQuaternion.axis(delta), axis);
+
+  return 2 * Math.atan2(projectedSinHalfAngle, delta.w);
+};
diff --git a/src/simulator/babylonBindings/motorPwm.ts b/src/simulator/babylonBindings/motorPwm.ts
new file mode 100644
index 000000000..65ede6cba
--- /dev/null
+++ b/src/simulator/babylonBindings/motorPwm.ts
@@ -0,0 +1,16 @@
+import { clamp } from '../../util/math/math';
+
+export interface MotorPwm {
+  /** The logical PWM retained in the shared motor registers. */
+  logical: number;
+  /** The PWM sent to the physics constraint after applying plug polarity. */
+  physical: number;
+}
+
+export const motorPwm = (requested: number, plug: 1 | -1): MotorPwm => {
+  const logical = clamp(-400, requested, 400);
+  return {
+    logical,
+    physical: plug * logical,
+  };
+};
diff --git a/src/simulator/definitions/robots/demobot.ts b/src/simulator/definitions/robots/demobot.ts
index dbcca8bc4..890db1d0f 100644
--- a/src/simulator/definitions/robots/demobot.ts
+++ b/src/simulator/definitions/robots/demobot.ts
@@ -34,7 +34,8 @@ export const DEMOBOT: Robot = {
       parentId: 'chassis',
       mass: grams(300),
       origin: {
-        position: Vector3wUnits.meters(0, -0.019, -0.06),
+        // Note: The x position has been slightly adjusted from zero to improve balance.
+        position: Vector3wUnits.meters(0.004, -0.019, -0.06),
       },
     }),
     left_wheel: Node.motor({
@@ -46,7 +47,6 @@ export const DEMOBOT: Robot = {
       childRotationQuaternion: Quaternion.FromEulerAngles(0, 0, Math.PI / 2),
       motorPort: 0,
       parentId: 'chassis',
-      plug: Node.Motor.Plug.Inverted
     }),
     left_wheel_link: Node.link({
       parentId: 'left_wheel',
diff --git a/src/simulator/definitions/scenes/2026BotballExplorerTable.ts b/src/simulator/definitions/scenes/2026BotballExplorerTable.ts
index 1791a4061..ee326d14b 100644
--- a/src/simulator/definitions/scenes/2026BotballExplorerTable.ts
+++ b/src/simulator/definitions/scenes/2026BotballExplorerTable.ts
@@ -11,8 +11,8 @@ import {
 } from '../../../util/math/unitMath';
 import tr from '@i18n';
 
-const TABLE_POSITION = RawVector3.create(79, 0, 10);
-const TABLE_ROTATION = RawQuaternion.create(0, 1, 0, 0);
+const TABLE_POSITION = RawVector3.create(-105, 8, 74);
+const TABLE_ROTATION = RawQuaternion.create(0, Math.SQRT1_2, 0, Math.SQRT1_2);
 const IDENTITY_ROTATION = RawQuaternion.IDENTITY;
 
 // Babylon world units in this simulator are centimeters. Preserve the layout
@@ -37,9 +37,9 @@ const tableOrigin = (
   scale: RawVector3 = RawVector3.ONE,
 ): ReferenceFramewUnits => ({
   position: Vector3wUnits.centimeters(
-    TABLE_POSITION.x - position.x,
+    TABLE_POSITION.x + position.z,
     TABLE_POSITION.y + position.y,
-    TABLE_POSITION.z - position.z,
+    TABLE_POSITION.z - position.x,
   ),
   orientation: RotationwUnits.fromRawQuaternion(
     normalizeQuaternion(multiplyQuaternions(TABLE_ROTATION, orientation)),
diff --git a/src/simulator/definitions/scenes/26botballExplorerBase.ts b/src/simulator/definitions/scenes/26botballExplorerBase.ts
index 26ade7862..0eb5f07a1 100644
--- a/src/simulator/definitions/scenes/26botballExplorerBase.ts
+++ b/src/simulator/definitions/scenes/26botballExplorerBase.ts
@@ -13,12 +13,13 @@ import {
 import tr from '@i18n';
 
 const ROBOT_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.centimeters(5, -8, -95),
-  orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+  position: Vector3wUnits.centimeters(0, 0, 0),
+  orientation: RotationwUnits.eulerDegrees(0, 0, 0),
 };
 
 const LIGHT_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.centimeters(54, 105, 50)
+  position: Vector3wUnits.centimeters(-145, 113, 49),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0),
 };
 
 /**
@@ -58,14 +59,14 @@ export function createBaseSceneSurface(): Scene {
     camera: Camera.arcRotate({
       radius: Distance.meters(5),
       target: {
-        x: Distance.meters(0),
-        y: Distance.meters(0.05),
-        z: Distance.meters(0),
+        x: Distance.meters(-0.95),
+        y: Distance.meters(0.13),
+        z: Distance.meters(-0.05),
       },
       position: {
-        x: Distance.meters(-1.5),
-        y: Distance.meters(1.25),
-        z: Distance.meters(0),
+        x: Distance.meters(-0.95),
+        y: Distance.meters(1.33),
+        z: Distance.meters(-1.55),
       }
     }),
     gravity: {
diff --git a/src/simulator/definitions/scenes/26botballExplorerSandbox.ts b/src/simulator/definitions/scenes/26botballExplorerSandbox.ts
index a499c6984..b1b589903 100644
--- a/src/simulator/definitions/scenes/26botballExplorerSandbox.ts
+++ b/src/simulator/definitions/scenes/26botballExplorerSandbox.ts
@@ -3,29 +3,23 @@ import Node from '../../../state/State/Scene/Node';
 import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from '../../../util/math/unitMath';
 import Dict from '../../../util/objectOps/Dict';
 import { createBaseSceneSurface } from './26botballExplorerBase';
-import Script from '../../../state/State/Scene/Script';
 import { sprintf } from 'sprintf-js';
 
 import tr from '@i18n';
-import { setNodeVisible } from './jbcCommonComponents';
-import { RawVector3 } from '../../../util/math/math';
 import Geometry from '../../../state/State/Scene/Geometry';
 import { Distance } from '../../../util/math/Value';
 
 const baseScene = createBaseSceneSurface();
 
-// const MAT_CENTER = RawVector3.create(34.889, -17.609, -5.180);
-const MAT_CENTER = Vector3wUnits.centimeters(44.111, -15.59, 15.18);
-// const CORD_DIFF = Vector3wUnits.centimeters(15.4, -13.896, -187.89);
-const CORD_DIFF = Vector3wUnits.centimeters(-21.572, -10, -119.622);
+const MAT_CENTER = Vector3wUnits.centimeters(-110.18, -7.59, 39.111);
 
 const LOW_2INCH_RED_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(22.77, -7, -83.3), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(83.3, -7, 22.77), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 const HIGH_2INCH_RED_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(22.77, -1, -83.3), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(83.3, -1, 22.77), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 export const LOW_2INCH_RED_CUBE: Node = {
@@ -46,17 +40,18 @@ export const HIGH_2INCH_RED_CUBE: Node = {
   startingOrigin: HIGH_2INCH_RED_CUBE_ORIGIN,
   origin: HIGH_2INCH_RED_CUBE_ORIGIN
 };
-const POM_ORIENTATION: RotationwUnits = RotationwUnits.eulerDegrees(0, 90, 0);
-const LO_Y = -23;
+const POM_ORIENTATION: RotationwUnits = RotationwUnits.eulerDegrees(0, 0, 0);
+const LO_X_1 = -43;
+const LO_Y = -15;
 export const POM_Z_GAP = 6 * 2.61;
 export const POM_X_GAP = 6 * 2.61;
-export const LO_Z_1 = -52;
+export const LO_Z_1 = 29.4;
 
 
 export const LO_ORANGE_POMS: Dict<Node> = {};
 for (let i = 0; i < 6; i++) {
   const origin: ReferenceFramewUnits = {
-    position: Vector3wUnits.centimeters(34.4, LO_Y, LO_Z_1 + POM_Z_GAP * i),
+    position: Vector3wUnits.centimeters(LO_X_1 - POM_X_GAP * i, LO_Y, LO_Z_1),
     orientation: POM_ORIENTATION
   };
   LO_ORANGE_POMS[`loOrange${i}`] = {
@@ -72,7 +67,7 @@ for (let i = 0; i < 6; i++) {
 export const LO_BLUE_POMS: Dict<Node> = {};
 for (let i = 0; i < 6; i++) {
   const origin: ReferenceFramewUnits = {
-    position: Vector3wUnits.centimeters(66.8, LO_Y, LO_Z_1 + POM_Z_GAP * i),
+    position: Vector3wUnits.centimeters(LO_X_1 - POM_X_GAP * i, LO_Y, 61.8),
 
     orientation: POM_ORIENTATION
   };
@@ -89,9 +84,9 @@ for (let i = 0; i < 6; i++) {
 
 
 const RED_4INCH_CUBE_PALLET_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-4.5, -10, -99), MAT_CENTER),
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(99, -10, -4.5), MAT_CENTER),
 
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const RED_4INCH_CUBE_PALLET: Node = {
   type: 'from-bb-template',
@@ -104,8 +99,8 @@ export const RED_4INCH_CUBE_PALLET: Node = {
 };
 
 const RED_4INCH_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-4.5, -1, -99), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(99, -1, -4.5), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const RED_4INCH_CUBE: Node = {
   type: 'from-bb-template',
@@ -118,13 +113,13 @@ export const RED_4INCH_CUBE: Node = {
 };
 
 const TOP_GREEN_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.centimeters(18, -25, -52.4),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.centimeters(-42.6, -17, 13),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 const LOW_GREEN_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.centimeters(1.6, -25, -52.4),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.centimeters(-42.6, -17, -3.4),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 export const LOW_GREEN_2IN_CUBE: Node = {
@@ -147,13 +142,13 @@ export const TOP_GREEN_2IN_CUBE: Node = {
 };
 
 const TOP_YELLOW_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.centimeters(18, -25, -36.6),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.centimeters(-58.4, -17, 13),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 const LOW_YELLOW_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.centimeters(1.6, -25, -36.6),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.centimeters(-58.4, -17, -3.4),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 export const LOW_YELLOW_2IN_CUBE: Node = {
@@ -176,8 +171,8 @@ export const TOP_YELLOW_2IN_CUBE: Node = {
 };
 
 const MIDDLE_PALLET_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-34.2, -10, -33.5), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(33.5, -10, -34.2), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const MIDDLE_PALLET: Node = {
   type: 'from-bb-template',
@@ -190,8 +185,8 @@ export const MIDDLE_PALLET: Node = {
 };
 
 const BROWN_4IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-47.9, -3, 19), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-19, -3, -47.9), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const BROWN_4IN_CUBE: Node = {
   type: 'from-bb-template',
@@ -204,18 +199,18 @@ export const BROWN_4IN_CUBE: Node = {
 };
 
 const MIDDLE_RED_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-26.1, -10, 29.5), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-29.5, -10, -26.1), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 const MIDDLE_GREEN_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-31.5, -10, 27), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-27, -10, -31.5), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 const MIDDLE_YELLOW_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-36.9, -10, 29.5), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-29.5, -10, -36.9), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 
 
@@ -251,8 +246,8 @@ export const MIDDLE_YELLOW_2IN_CUBE: Node = {
 };
 
 const MIDDLE_GREEN_4IN_PALLET_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(6.3, -10, 50.5), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-50.5, -10, 6.3), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const MIDDLE_GREEN_4IN_PALLET: Node = {
   type: 'from-bb-template',
@@ -265,8 +260,8 @@ export const MIDDLE_GREEN_4IN_PALLET: Node = {
 };
 
 const MIDDLE_GREEN_4IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(6.3, -3, 50.5), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-50.5, -3, 6.3), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const MIDDLE_GREEN_4IN_CUBE: Node = {
   type: 'from-bb-template',
@@ -279,8 +274,8 @@ export const MIDDLE_GREEN_4IN_CUBE: Node = {
 };
 
 const LEFT_BASKET_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-39.7, -10, 82.8), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 90, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-82.8, -10, -39.7), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
 };
 export const LEFT_BASKET: Node = {
   type: 'from-bb-template',
@@ -293,8 +288,8 @@ export const LEFT_BASKET: Node = {
 };
 
 const RIGHT_BASKET_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(-39.7, -10, 115), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 90, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-115, -10, -39.7), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
 };
 export const RIGHT_BASKET: Node = {
   type: 'from-bb-template',
@@ -307,8 +302,8 @@ export const RIGHT_BASKET: Node = {
 };
 
 const LEFT_CONE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(22.77, -13, 32), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-32, -13, 22.77), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const LEFT_CONE: Node = {
   type: 'from-bb-template',
@@ -321,8 +316,8 @@ export const LEFT_CONE: Node = {
 };
 
 const RIGHT_CONE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(22.77, -13, 69), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-69, -13, 22.77), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const RIGHT_CONE: Node = {
   type: 'from-bb-template',
@@ -335,8 +330,8 @@ export const RIGHT_CONE: Node = {
 };
 
 const BOTGUY_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(60.45, -2, 5.4), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 90, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-5.4, -2, 60.45), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
 };
 export const BOTGUY: Node = {
   type: 'from-bb-template',
@@ -349,8 +344,8 @@ export const BOTGUY: Node = {
 };
 
 const RIGHT_STACK_YELLOW_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(38.9, -10, 95), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-95, -10, 38.9), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const RIGHT_STACK_YELLOW_2IN_CUBE: Node = {
   type: 'from-bb-template',
@@ -363,8 +358,8 @@ export const RIGHT_STACK_YELLOW_2IN_CUBE: Node = {
 };
 
 const RIGHT_STACK_GREEN_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(38.9, -3, 100), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(45, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-100, -3, 38.9), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(45, -90, 0)
 };
 export const RIGHT_STACK_GREEN_2IN_CUBE: Node = {
   type: 'from-bb-template',
@@ -377,8 +372,8 @@ export const RIGHT_STACK_GREEN_2IN_CUBE: Node = {
 };
 
 const RIGHT_STACK_RED_2IN_CUBE_ORIGIN: ReferenceFramewUnits = {
-  position: Vector3wUnits.add(Vector3wUnits.centimeters(38.9, -10, 105.5), MAT_CENTER),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+  position: Vector3wUnits.add(Vector3wUnits.centimeters(-105.5, -10, 38.9), MAT_CENTER),
+  orientation: RotationwUnits.eulerDegrees(0, -90, 0)
 };
 export const RIGHT_STACK_RED_2IN_CUBE: Node = {
   type: 'from-bb-template',
@@ -390,7 +385,7 @@ export const RIGHT_STACK_RED_2IN_CUBE: Node = {
   origin: RIGHT_STACK_RED_2IN_CUBE_ORIGIN
 };
 
-export const GAME_PIECE_OFFSET = Vector3wUnits.centimeters(-5, 15, -4.5);
+export const GAME_PIECE_OFFSET = Vector3wUnits.centimeters(4.5, 15, -5);
 
 export const offsetOrigin = (origin: ReferenceFramewUnits): ReferenceFramewUnits => {
   if (!origin) return origin;
@@ -420,11 +415,11 @@ const matCenter: Node = {
   editable: true,
   startingOrigin: {
     position: MAT_CENTER,
-    orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+    orientation: RotationwUnits.eulerDegrees(0, -90, 0)
   },
   origin: {
     position: MAT_CENTER,
-    orientation: RotationwUnits.eulerDegrees(0, 0, 0)
+    orientation: RotationwUnits.eulerDegrees(0, -90, 0)
   }
 };
 export const offsetGamePiece = (node: Node): Node => ({
@@ -437,11 +432,10 @@ export const BOTBALL_EXPLORER_26_SANDBOX: Scene = {
   ...baseScene,
   name: tr('2026 Botball Explorer Sandbox'),
   description: tr('A sandbox scene for 2026 Botball Explorer.'),
-  geometry: { ...baseScene.geometry, matCenter_geom },
+  geometry: { ...baseScene.geometry },
   scripts: {},
   nodes: {
     ...baseScene.nodes,
-    matCenter,
     ...Dict.map({
       LOW_2INCH_RED_CUBE,
       high2InchRedCube: HIGH_2INCH_RED_CUBE,
diff --git a/src/simulator/definitions/scenes/bex26/bex1-Waypoint-Alpha.ts b/src/simulator/definitions/scenes/bex26/bex1-Waypoint-Alpha.ts
index 2ef28418b..bf2cda327 100644
--- a/src/simulator/definitions/scenes/bex26/bex1-Waypoint-Alpha.ts
+++ b/src/simulator/definitions/scenes/bex26/bex1-Waypoint-Alpha.ts
@@ -6,6 +6,7 @@ import tr from '@i18n';
 import { createBaseSceneSurface } from '../26botballExplorerBase';
 import { setNodeVisible, notInStartBox } from '../jbcCommonComponents';
 import { startBox_geom, startBoxA } from './bexCommonComponents';
+import { RotationwUnits } from '../../../../util/math/unitMath';
 const baseScene = createBaseSceneSurface();
 
 const reachedEnd = `
@@ -87,10 +88,11 @@ export const BEX_1: Scene = {
       name: tr('Not Start Box'),
       origin: {
         position: {
-          x: Distance.centimeters(0),
-          y: Distance.centimeters(-1.9),
-          z: Distance.meters(0.345),
+          x: Distance.centimeters(-129.5),
+          y: Distance.centimeters(6.1),
+          z: Distance.centimeters(-5),
         },
+        orientation: RotationwUnits.eulerDegrees(0, -90, 0),
       },
       material: {
         type: 'basic',
@@ -106,10 +108,11 @@ export const BEX_1: Scene = {
       name: tr('End Box'),
       origin: {
         position: {
-          x: Distance.centimeters(45.5),
-          y: Distance.centimeters(-15.3),
-          z: Distance.centimeters(-90.9),
+          x: Distance.centimeters(-4.1),
+          y: Distance.centimeters(-7.3),
+          z: Distance.centimeters(40.5),
         },
+        orientation: RotationwUnits.eulerDegrees(0, -90, 0),
       },
       material: {
         type: 'pbr',
@@ -125,10 +128,11 @@ export const BEX_1: Scene = {
       name: tr('Stop Box'),
       origin: {
         position: {
-          x: Distance.centimeters(64.652),
-          y: Distance.centimeters(-20),
-          z: Distance.centimeters(-90.9),
+          x: Distance.centimeters(-4.1),
+          y: Distance.centimeters(-12),
+          z: Distance.centimeters(59.652),
         },
+        orientation: RotationwUnits.eulerDegrees(0, -90, 0),
       },
       material: {
         type: 'pbr',
@@ -139,4 +143,4 @@ export const BEX_1: Scene = {
       },
     }
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex10-Waypoint-Bravo.ts b/src/simulator/definitions/scenes/bex26/bex10-Waypoint-Bravo.ts
index 36db88451..e09e7fc8b 100644
--- a/src/simulator/definitions/scenes/bex26/bex10-Waypoint-Bravo.ts
+++ b/src/simulator/definitions/scenes/bex26/bex10-Waypoint-Bravo.ts
@@ -5,11 +5,16 @@ import { Color } from '../../../../state/State/Scene/Color';
 import tr from '@i18n';
 import { createBaseSceneSurface } from '../26botballExplorerBase';
 import { blackLineNodes, BLACK_LINE_GEOMETRY, startBoxB, startBox_geom } from './bexCommonComponents';
-import { RotationwUnits } from '../../../../util/math/unitMath';
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from '../../../../util/math/unitMath';
 
 
 const baseScene = createBaseSceneSurface();
 
+const ROBOT_ORIGIN: ReferenceFramewUnits = {
+  position: Vector3wUnits.centimeters(-155.955, 0, -0.92),
+  orientation: RotationwUnits.eulerDegrees(0, 0, 0),
+};
+
 
 const noStop = `
 scene.addOnIntersectionListener('robot', (type, otherNodeId) => {
@@ -137,6 +142,14 @@ export const BEX_10: Scene = {
   geometry: {
     ...baseScene.geometry,
     BLACK_LINE_GEOMETRY,
+    BLACK_LINE_1_2_GEOMETRY: {
+      type: 'box',
+      size: {
+        x: Distance.centimeters(1),
+        y: Distance.centimeters(12),
+        z: Distance.meters(3),
+      },
+    },
     startBox_geom,
     notStartBox_geom: {
       type: 'box',
@@ -165,32 +178,19 @@ export const BEX_10: Scene = {
   },
   nodes: {
     ...baseScene.nodes,
+    robot: {
+      ...baseScene.nodes.robot,
+      startingOrigin: ROBOT_ORIGIN,
+      origin: ROBOT_ORIGIN,
+    },
     ...blackLineNodes,
-    blackLine4:
-    {
-      ...blackLineNodes.blackLine4,
-      origin: {
-        orientation: blackLineNodes.blackLine4.origin.orientation,
-        position: {
-          x: Distance.centimeters(-5.46),
-          y: Distance.centimeters(-14.4),
-          z: Distance.meters(0.428),
-        }
-
-      },
-
+    blackLine1: {
+      ...blackLineNodes.blackLine1,
+      geometryId: 'BLACK_LINE_1_2_GEOMETRY',
     },
-    blackLine5: {
-      ...blackLineNodes.blackLine5,
-      origin: {
-        orientation: blackLineNodes.blackLine5.origin.orientation,
-        position: {
-          x: Distance.centimeters(-5.46),
-          y: Distance.centimeters(-14.4),
-          z: Distance.meters(0.794),
-        }
-
-      },
+    blackLine2: {
+      ...blackLineNodes.blackLine2,
+      geometryId: 'BLACK_LINE_1_2_GEOMETRY',
     },
 
     startBoxB,
@@ -201,11 +201,11 @@ export const BEX_10: Scene = {
       name: tr('End Box'),
       origin: {
         position: {
-          x: Distance.centimeters(45.276),
-          y: Distance.centimeters(-15),
-          z: Distance.centimeters(60.995),
+          x: Distance.centimeters(-155.995),
+          y: Distance.centimeters(-7),
+          z: Distance.centimeters(40.276),
         },
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
       },
       material: {
         type: 'basic',
@@ -221,11 +221,11 @@ export const BEX_10: Scene = {
       name: tr('Stop Box'),
       origin: {
         position: {
-          x: Distance.centimeters(63.744),
-          y: Distance.centimeters(-10.6),
-          z: Distance.centimeters(60.974),
+          x: Distance.centimeters(-155.974),
+          y: Distance.centimeters(-2.6),
+          z: Distance.centimeters(58.744),
         },
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
       },
       material: {
         type: 'basic',
@@ -236,4 +236,4 @@ export const BEX_10: Scene = {
       },
     }
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex3-Mixed-Freight.ts b/src/simulator/definitions/scenes/bex26/bex3-Mixed-Freight.ts
index 068251102..60cbdebfe 100644
--- a/src/simulator/definitions/scenes/bex26/bex3-Mixed-Freight.ts
+++ b/src/simulator/definitions/scenes/bex26/bex3-Mixed-Freight.ts
@@ -3,8 +3,8 @@ import Script from '../../../../state/State/Scene/Script';
 import { Color } from '../../../../state/State/Scene/Color';
 import tr from '@i18n';
 import { createBaseSceneSurface } from '../26botballExplorerBase';
-import { TOP_YELLOW_2IN_CUBE, LOW_YELLOW_2IN_CUBE, TOP_GREEN_2IN_CUBE, LOW_GREEN_2IN_CUBE, offsetGamePiece } from '../26botballExplorerSandbox';
-import { createCubeEndNode, smallCubeEnd_geom, getLowestFaceScript, getHighestFaceScript, isCubeOnTopOfScript } from './bexCommonComponents';
+import { TOP_YELLOW_2IN_CUBE, LOW_YELLOW_2IN_CUBE, TOP_GREEN_2IN_CUBE, LOW_GREEN_2IN_CUBE } from '../26botballExplorerSandbox';
+import { createCubeEndNode, smallCubeEnd_geom, getLowestFaceScript, getHighestFaceScript, isCubeOnTopOfScript, offsetChallengeNode } from './bexCommonComponents';
 import Dict from '../../../../util/objectOps/Dict';
 const baseScene = createBaseSceneSurface();
 
@@ -142,6 +142,6 @@ export const BEX_3: Scene = {
       lYellowFront: createCubeEndNode(tr('Low Yellow Cube Front'), 'LOW_YELLOW_2IN_CUBE', 'front', 'smallCubeEnd_geom', Color.rgb(255, 115, 0)),
       lYellowBack: createCubeEndNode(tr('Low Yellow Cube Back'), 'LOW_YELLOW_2IN_CUBE', 'back', 'smallCubeEnd_geom', Color.rgb(229, 97, 255)),
 
-    }, offsetGamePiece)
+    }, offsetChallengeNode)
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex5-Top-Shelf-Delivery.ts b/src/simulator/definitions/scenes/bex26/bex5-Top-Shelf-Delivery.ts
index 952b15f73..e8a519aaf 100644
--- a/src/simulator/definitions/scenes/bex26/bex5-Top-Shelf-Delivery.ts
+++ b/src/simulator/definitions/scenes/bex26/bex5-Top-Shelf-Delivery.ts
@@ -3,8 +3,8 @@ import Script from '../../../../state/State/Scene/Script';
 import { Color } from '../../../../state/State/Scene/Color';
 import tr from '@i18n';
 import { createBaseSceneSurface } from '../26botballExplorerBase';
-import { LOW_2INCH_RED_CUBE, HIGH_2INCH_RED_CUBE, RED_4INCH_CUBE, RED_4INCH_CUBE_PALLET, offsetGamePiece } from '../26botballExplorerSandbox';
-import { smallCubeEnd_geom, largeCubeEnd_geom, createCubeEndNode, getLowestFaceScript, getHighestFaceScript, isCubeOnTopOfScript } from './bexCommonComponents';
+import { LOW_2INCH_RED_CUBE, HIGH_2INCH_RED_CUBE, RED_4INCH_CUBE, RED_4INCH_CUBE_PALLET } from '../26botballExplorerSandbox';
+import { smallCubeEnd_geom, largeCubeEnd_geom, createCubeEndNode, getLowestFaceScript, getHighestFaceScript, isCubeOnTopOfScript, offsetChallengeNode } from './bexCommonComponents';
 import Dict from '../../../../util/objectOps/Dict';
 
 const cubesStacked = `
@@ -122,6 +122,6 @@ export const BEX_5: Scene = {
       largeRedCubeFront: createCubeEndNode(tr('4-inch Red Cube Front'), 'RED_4INCH_CUBE', 'front', 'largeCubeEnd_geom', Color.rgb(255, 0, 0)),
       largeRedCubeRight: createCubeEndNode(tr('4-inch Red Cube Right'), 'RED_4INCH_CUBE', 'right', 'largeCubeEnd_geom', Color.rgb(255, 0, 0)),
 
-    }, offsetGamePiece)
+    }, offsetChallengeNode)
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex6-Pallet-Builder.ts b/src/simulator/definitions/scenes/bex26/bex6-Pallet-Builder.ts
index 3cd6d0272..abbf1cd44 100644
--- a/src/simulator/definitions/scenes/bex26/bex6-Pallet-Builder.ts
+++ b/src/simulator/definitions/scenes/bex26/bex6-Pallet-Builder.ts
@@ -4,8 +4,8 @@ import Script from '../../../../state/State/Scene/Script';
 import { Color } from '../../../../state/State/Scene/Color';
 import tr from '@i18n';
 import { createBaseSceneSurface } from '../26botballExplorerBase';
-import { startBoxA, startBoxB, startBox_geom, getHighestFaceScript, getLowestFaceScript, isCubeOnTopOfScript, createCubeEndNode, blackLineNodes, pallet_geom, BLACK_LINE_GEOMETRY, smallCubeEnd_geom } from './bexCommonComponents';
-import { MIDDLE_PALLET, TOP_GREEN_2IN_CUBE, LOW_GREEN_2IN_CUBE, TOP_YELLOW_2IN_CUBE, LOW_YELLOW_2IN_CUBE, offsetGamePiece } from '../26botballExplorerSandbox';
+import { startBoxA, startBoxB, startBox_geom, getHighestFaceScript, getLowestFaceScript, isCubeOnTopOfScript, createCubeEndNode, blackLineNodes, pallet_geom, BLACK_LINE_GEOMETRY, smallCubeEnd_geom, offsetChallengeNode } from './bexCommonComponents';
+import { MIDDLE_PALLET, TOP_GREEN_2IN_CUBE, LOW_GREEN_2IN_CUBE, TOP_YELLOW_2IN_CUBE, LOW_YELLOW_2IN_CUBE } from '../26botballExplorerSandbox';
 import { RotationwUnits } from '../../../../util/math/unitMath';
 import Dict from '../../../../util/objectOps/Dict';
 
@@ -291,6 +291,6 @@ export const BEX_6: Scene = {
       lYellowRight: createCubeEndNode(tr('Low Yellow Cube Right'), 'LOW_YELLOW_2IN_CUBE', 'right', 'smallCubeEnd_geom', Color.rgb(229, 97, 255)),
       lYellowFront: createCubeEndNode(tr('Low Yellow Cube Front'), 'LOW_YELLOW_2IN_CUBE', 'front', 'smallCubeEnd_geom', Color.rgb(229, 97, 255)),
       lYellowBack: createCubeEndNode(tr('Low Yellow Cube Back'), 'LOW_YELLOW_2IN_CUBE', 'back', 'smallCubeEnd_geom', Color.rgb(229, 97, 255)),
-    }, offsetGamePiece)
+    }, offsetChallengeNode)
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex7-Hazard-Containment.ts b/src/simulator/definitions/scenes/bex26/bex7-Hazard-Containment.ts
index a47c2b635..219ef2e9a 100644
--- a/src/simulator/definitions/scenes/bex26/bex7-Hazard-Containment.ts
+++ b/src/simulator/definitions/scenes/bex26/bex7-Hazard-Containment.ts
@@ -6,6 +6,7 @@ import tr from '@i18n';
 import { createBaseSceneSurface } from '../26botballExplorerBase';
 import { LO_BLUE_POMS, LO_ORANGE_POMS, offsetGamePiece } from '../26botballExplorerSandbox';
 import Dict from '../../../../util/objectOps/Dict';
+import { RotationwUnits } from '../../../../util/math/unitMath';
 
 const baseScene = createBaseSceneSurface();
 
@@ -151,10 +152,11 @@ export const BEX_7: Scene = {
       name: tr('PVC Enclosure Left'),
       origin: {
         position: {
-          x: Distance.centimeters(72.73),
-          y: Distance.centimeters(-16.15),
-          z: Distance.centimeters(90.43),
+          x: Distance.centimeters(-185.43),
+          y: Distance.centimeters(-8.15),
+          z: Distance.centimeters(67.73),
         },
+        orientation: RotationwUnits.eulerDegrees(0, -90, 0),
       },
       material: {
         type: 'basic',
@@ -170,10 +172,11 @@ export const BEX_7: Scene = {
       name: tr('PVC Enclosure Middle'),
       origin: {
         position: {
-          x: Distance.centimeters(-0.62),
-          y: Distance.centimeters(-16.15),
-          z: Distance.centimeters(90.43),
+          x: Distance.centimeters(-185.43),
+          y: Distance.centimeters(-8.15),
+          z: Distance.centimeters(-5.62),
         },
+        orientation: RotationwUnits.eulerDegrees(0, -90, 0),
       },
       material: {
         type: 'basic',
@@ -190,10 +193,11 @@ export const BEX_7: Scene = {
       name: tr('PVC Enclosure Right'),
       origin: {
         position: {
-          x: Distance.centimeters(-78.95),
-          y: Distance.centimeters(-16.15),
-          z: Distance.centimeters(90.43),
+          x: Distance.centimeters(-185.43),
+          y: Distance.centimeters(-8.15),
+          z: Distance.centimeters(-83.95),
         },
+        orientation: RotationwUnits.eulerDegrees(0, -90, 0),
       },
       material: {
         type: 'basic',
@@ -205,4 +209,4 @@ export const BEX_7: Scene = {
     },
 
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex8-Deliver-the-Red-Cube.ts b/src/simulator/definitions/scenes/bex26/bex8-Deliver-the-Red-Cube.ts
index 6e9763a09..461bedec8 100644
--- a/src/simulator/definitions/scenes/bex26/bex8-Deliver-the-Red-Cube.ts
+++ b/src/simulator/definitions/scenes/bex26/bex8-Deliver-the-Red-Cube.ts
@@ -221,8 +221,8 @@ export const BEX_8: Scene = {
       geometryId: 'loadingDock_geom',
       name: tr('Loading Dock Top'),
       origin: {
-        position: Vector3wUnits.centimeters(78.708, -9.262, -100.797),
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        position: Vector3wUnits.centimeters(5.797, -1.262, 73.708),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
       },
       material: {
         type: 'basic',
@@ -233,4 +233,4 @@ export const BEX_8: Scene = {
       },
     }
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bex9-Recover-Botguy.ts b/src/simulator/definitions/scenes/bex26/bex9-Recover-Botguy.ts
index 3cc821b1e..df96a766d 100644
--- a/src/simulator/definitions/scenes/bex26/bex9-Recover-Botguy.ts
+++ b/src/simulator/definitions/scenes/bex26/bex9-Recover-Botguy.ts
@@ -76,11 +76,11 @@ export const BEX_9: Scene = {
       name: tr('Warehouse Floor'),
       origin: {
         position: {
-          x: Distance.centimeters(38.147),
-          y: Distance.centimeters(-15.59),
-          z: Distance.centimeters(17.287),
+          x: Distance.centimeters(-112.287),
+          y: Distance.centimeters(-7.59),
+          z: Distance.centimeters(33.147),
         },
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
       },
       material: {
         type: 'basic',
@@ -97,11 +97,11 @@ export const BEX_9: Scene = {
       name: tr('PVC Enclosure Left'),
       origin: {
         position: {
-          x: Distance.centimeters(99.43),
-          y: Distance.centimeters(-16.15),
-          z: Distance.centimeters(-56.669),
+          x: Distance.centimeters(-38.331),
+          y: Distance.centimeters(-8.15),
+          z: Distance.centimeters(94.43),
         },
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
       },
       material: {
         type: 'basic',
@@ -118,11 +118,11 @@ export const BEX_9: Scene = {
 
       origin: {
         position: {
-          x: Distance.centimeters(99.43),
-          y: Distance.centimeters(-16.15),
-          z: Distance.centimeters(16.568),
+          x: Distance.centimeters(-111.568),
+          y: Distance.centimeters(-8.15),
+          z: Distance.centimeters(94.43),
         },
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
       },
       material: {
         type: 'basic',
@@ -139,11 +139,11 @@ export const BEX_9: Scene = {
       name: tr('PVC Enclosure Right'),
       origin: {
         position: {
-          x: Distance.centimeters(99.43),
-          y: Distance.centimeters(-16.15),
-          z: Distance.centimeters(94.334),
+          x: Distance.centimeters(-189.334),
+          y: Distance.centimeters(-8.15),
+          z: Distance.centimeters(94.43),
         },
-        orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+        orientation: RotationwUnits.eulerDegrees(0, 0, 0),
 
       },
       material: {
@@ -156,4 +156,4 @@ export const BEX_9: Scene = {
     },
 
   }
-};
\ No newline at end of file
+};
diff --git a/src/simulator/definitions/scenes/bex26/bexCommonComponents.ts b/src/simulator/definitions/scenes/bex26/bexCommonComponents.ts
index 4c059222c..062adde8f 100644
--- a/src/simulator/definitions/scenes/bex26/bexCommonComponents.ts
+++ b/src/simulator/definitions/scenes/bex26/bexCommonComponents.ts
@@ -1,11 +1,12 @@
 import LocalizedString from "../../../../util/LocalizedString";
-import { RotationwUnits, Vector3wUnits } from "../../../../util/math/unitMath";
+import { ReferenceFramewUnits, RotationwUnits, Vector3wUnits } from "../../../../util/math/unitMath";
 import Node from '../../../../state/State/Scene/Node';
 import { Color } from '../../../../state/State/Scene/Color';
 import { Distance } from '../../../../util';
 import Geometry from "../../../../state/State/Scene/Geometry";
 import tr from '@i18n';
 import Dict from '../../../../util/objectOps/Dict';
+import { offsetGamePiece } from '../26botballExplorerSandbox';
 
 
 /** ************* 
@@ -169,6 +170,32 @@ export function createCubeEndNode(name: LocalizedString, parentId: string, side:
   };
 }
 
+const CHILD_GAME_PIECE_OFFSET = Vector3wUnits.centimeters(-5, 15, -4.5);
+
+const offsetChildOrigin = (origin: ReferenceFramewUnits): ReferenceFramewUnits => {
+  if (!origin) return origin;
+  return {
+    ...origin,
+    position: Vector3wUnits.add(
+      origin.position ?? Vector3wUnits.zero('centimeters'),
+      CHILD_GAME_PIECE_OFFSET,
+    ),
+  };
+};
+
+/**
+ * Root nodes use the rebased game-piece offset. Child origins are parent-local,
+ * so their pre-rebase offset must remain unchanged.
+ */
+export const offsetChallengeNode = (node: Node): Node => {
+  if (!('parentId' in node) || !node.parentId) return offsetGamePiece(node);
+  return {
+    ...node,
+    startingOrigin: offsetChildOrigin(node.startingOrigin),
+    origin: offsetChildOrigin(node.origin),
+  } as Node;
+};
+
 /** ************* 
     GEOMETRIES
 ****************/
@@ -237,11 +264,11 @@ export const startBoxA: Node = {
   editable: true,
   origin: {
     position: {
-      x: Distance.centimeters(4.134),
-      y: Distance.centimeters(-15.504),
-      z: Distance.centimeters(-91.2),
+      x: Distance.centimeters(-3.8),
+      y: Distance.centimeters(-7.504),
+      z: Distance.centimeters(-0.866),
     },
-    orientation: RotationwUnits.eulerDegrees(0, 0, 0),
+    orientation: RotationwUnits.eulerDegrees(0, -90, 0),
   },
   material: {
     type: 'basic',
@@ -260,11 +287,11 @@ export const startBoxB: Node = {
   editable: true,
   origin: {
     position: {
-      x: Distance.centimeters(4.08),
-      y: Distance.centimeters(-15),
-      z: Distance.centimeters(60.955),
+      x: Distance.centimeters(-155.955),
+      y: Distance.centimeters(-7),
+      z: Distance.centimeters(-0.92),
     },
-    orientation: RotationwUnits.eulerDegrees(0, 0, 0),
+    orientation: RotationwUnits.eulerDegrees(0, -90, 0),
   },
   material: {
     type: 'basic',
@@ -281,11 +308,11 @@ export const loadingZone: Node = {
   name: tr('Loading Zone'),
   origin: {
     position: {
-      x: Distance.meters(0.053),
-      y: Distance.meters(-0.156),
-      z: Distance.centimeters(110.441)
+      x: Distance.centimeters(-205.441),
+      y: Distance.centimeters(-7.6),
+      z: Distance.centimeters(0.3)
     },
-    orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+    orientation: RotationwUnits.eulerDegrees(0, 0, 0),
 
   },
   material: {
@@ -305,10 +332,11 @@ export const blackLineNodes: Dict<Node> = {
     name: tr('Black Line 1'),
     origin: {
       position: {
-        x: Distance.centimeters(29.46),
-        y: Distance.centimeters(-14.4),
-        z: Distance.meters(0.133),
+        x: Distance.centimeters(-108.3),
+        y: Distance.centimeters(-6.4),
+        z: Distance.centimeters(24.46),
       },
+      orientation: RotationwUnits.eulerDegrees(0, -90, 0),
     },
     material: {
       type: 'basic',
@@ -324,10 +352,11 @@ export const blackLineNodes: Dict<Node> = {
     name: tr('Black Line 2'),
     origin: {
       position: {
-        x: Distance.centimeters(61.619),
-        y: Distance.centimeters(-14.4),
-        z: Distance.meters(0.29),
+        x: Distance.centimeters(-124),
+        y: Distance.centimeters(-6.4),
+        z: Distance.centimeters(56.619),
       },
+      orientation: RotationwUnits.eulerDegrees(0, -90, 0),
     },
     material: {
       type: 'basic',
@@ -343,11 +372,11 @@ export const blackLineNodes: Dict<Node> = {
     name: tr('Black Line 3'),
     origin: {
       position: {
-        x: Distance.centimeters(-12.1),
-        y: Distance.centimeters(-14.4),
-        z: Distance.meters(-0.725),
+        x: Distance.centimeters(-22.5),
+        y: Distance.centimeters(-6.4),
+        z: Distance.centimeters(-17.1),
       },
-      orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+      orientation: RotationwUnits.eulerDegrees(0, 0, 0),
     },
     material: {
       type: 'basic',
@@ -363,11 +392,11 @@ export const blackLineNodes: Dict<Node> = {
     name: tr('Black Line 4'),
     origin: {
       position: {
-        x: Distance.centimeters(-5.46),
-        y: Distance.centimeters(-14.4),
-        z: Distance.meters(0.428),
+        x: Distance.centimeters(-137.8),
+        y: Distance.centimeters(-6.4),
+        z: Distance.centimeters(-10.46),
       },
-      orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+      orientation: RotationwUnits.eulerDegrees(0, 0, 0),
     },
     material: {
       type: 'basic',
@@ -383,11 +412,11 @@ export const blackLineNodes: Dict<Node> = {
     name: tr('Black Line 5'),
     origin: {
       position: {
-        x: Distance.centimeters(-5.46),
-        y: Distance.centimeters(-14.4),
-        z: Distance.meters(0.794),
+        x: Distance.centimeters(-174.4),
+        y: Distance.centimeters(-6.4),
+        z: Distance.centimeters(-10.46),
       },
-      orientation: RotationwUnits.eulerDegrees(0, 90, 0),
+      orientation: RotationwUnits.eulerDegrees(0, 0, 0),
     },
     material: {
       type: 'basic',
@@ -398,4 +427,4 @@ export const blackLineNodes: Dict<Node> = {
     },
   }
 
-};
\ No newline at end of file
+};
diff --git a/src/state/reducer/robots.ts b/src/state/reducer/robots.ts
index 4d9208945..688266ab4 100644
--- a/src/state/reducer/robots.ts
+++ b/src/state/reducer/robots.ts
@@ -81,7 +81,6 @@ export type RobotsAction = (
 const DEFAULT_ROBOTS: Robots = {
   robots: Object.entries(ROBOTS).reduce((acc, [key, value]) => {
     acc[key.toLowerCase()] = Async.loaded({ value });
-    console.log(`found default robot: ${key}`);
     return acc;
   }, {})
 };
@@ -143,4 +142,4 @@ export const reduceRobots = (state: Robots = DEFAULT_ROBOTS, action: RobotsActio
     default:
       return state;
   }
-};
\ No newline at end of file
+};
diff --git a/src/state/reducer/users.ts b/src/state/reducer/users.ts
index e7cc0c245..406c82922 100644
--- a/src/state/reducer/users.ts
+++ b/src/state/reducer/users.ts
@@ -119,7 +119,6 @@ const loadOrEmpty = async (userId: string, current: AsyncUser | undefined) => {
   const brief = Async.brief(current);
   try {
     const value = await db.get<User>(Selector.user(userId));
-    console.log("loadOrEmpty loaded user:", value);
     store.dispatch(UsersAction.setUserInternal({
       user: Async.loaded({ brief, value }),
       userId,
@@ -255,4 +254,4 @@ export const reduceUsers = (state: Users = Users.EMPTY, action: UsersAction): Us
     }
     default: return state;
   }
-};
\ No newline at end of file
+};
diff --git a/test/programming/SharedRegistersRobot.spec.ts b/test/programming/SharedRegistersRobot.spec.ts
new file mode 100644
index 000000000..852beecb7
--- /dev/null
+++ b/test/programming/SharedRegistersRobot.spec.ts
@@ -0,0 +1,25 @@
+import AbstractRobot from '../../src/programming/AbstractRobot';
+import Motor from '../../src/programming/AbstractRobot/Motor';
+import SharedRegistersRobot from '../../src/programming/SharedRegistersRobot';
+import SharedRegisters from '../../src/programming/registers/SharedRegisters';
+
+describe('SharedRegistersRobot', () => {
+  it('round-trips motor positions through sync without changing units', () => {
+    const positions = [1234, -567, 1, 0] as const;
+    const motors = positions.map(position => ({
+      ...Motor.NIL,
+      position,
+    })) as AbstractRobot.Stateless.Motors;
+    const state = new AbstractRobot.Stateless(
+      motors,
+      AbstractRobot.Stateless.NIL.servos,
+      AbstractRobot.Stateless.NIL.analogValues,
+      AbstractRobot.Stateless.NIL.digitalValues,
+    );
+    const robot = new SharedRegistersRobot(new SharedRegisters());
+
+    robot.sync(state);
+
+    expect(positions.map((_, port) => robot.getMotor(port).position)).toEqual(positions);
+  });
+});
diff --git a/test/simulator/motorPosition.spec.ts b/test/simulator/motorPosition.spec.ts
new file mode 100644
index 000000000..0994183bc
--- /dev/null
+++ b/test/simulator/motorPosition.spec.ts
@@ -0,0 +1,60 @@
+import { Quaternion } from '@babylonjs/core';
+
+import { RawQuaternion, RawVector3 } from '../../src/util/math/math';
+import {
+  incrementalHingeRotation,
+  parentRelativeOrientation,
+} from '../../src/simulator/babylonBindings/motorPosition';
+
+const quaternion = (q: Quaternion): RawQuaternion => RawQuaternion.fromBabylon(q);
+
+const worldOrientations = (world: Quaternion, angle: number) => ({
+  parent: quaternion(world),
+  child: quaternion(
+    world
+      .multiply(Quaternion.FromEulerAngles(angle, 0, 0))
+      .multiply(Quaternion.FromEulerAngles(0, 0, Math.PI / 2)),
+  ),
+});
+
+describe('motor position quaternion tracking', () => {
+  it.each([1, -1])('accumulates complete revolutions in direction %i', direction => {
+    const world = Quaternion.FromEulerAngles(0.7, -0.4, 1.1);
+    const samples = 32;
+    let previous: RawQuaternion | undefined;
+    let accumulated = 0;
+
+    for (let i = 0; i <= samples; ++i) {
+      const orientations = worldOrientations(world, direction * 2 * Math.PI * i / samples);
+      const current = parentRelativeOrientation(orientations.parent, orientations.child);
+      if (previous) {
+        accumulated += incrementalHingeRotation(previous, current, RawVector3.X);
+      }
+      previous = current;
+    }
+
+    expect(accumulated).toBeCloseTo(direction * 2 * Math.PI, 10);
+  });
+
+  it('does not count changes to the robot world orientation', () => {
+    const first = worldOrientations(Quaternion.Identity(), 0.3);
+    const second = worldOrientations(Quaternion.FromEulerAngles(0.8, -1.2, 0.4), 0.3);
+
+    const previous = parentRelativeOrientation(first.parent, first.child);
+    const current = parentRelativeOrientation(second.parent, second.child);
+
+    expect(incrementalHingeRotation(previous, current, RawVector3.X)).toBeCloseTo(0, 10);
+  });
+
+  it('ignores equivalent quaternion sign changes', () => {
+    const orientation = RawQuaternion.normalize(RawQuaternion.create(0.2, -0.3, 0.4, 0.8));
+    const negated = RawQuaternion.create(
+      -orientation.x,
+      -orientation.y,
+      -orientation.z,
+      -orientation.w,
+    );
+
+    expect(incrementalHingeRotation(orientation, negated, RawVector3.X)).toBeCloseTo(0, 10);
+  });
+});
diff --git a/test/simulator/motorPwm.spec.ts b/test/simulator/motorPwm.spec.ts
new file mode 100644
index 000000000..acaed0f9c
--- /dev/null
+++ b/test/simulator/motorPwm.spec.ts
@@ -0,0 +1,14 @@
+import { motorPwm } from '../../src/simulator/babylonBindings/motorPwm';
+
+describe('motor PWM plug handling', () => {
+  it.each([
+    { plug: 1 as const, logical: 200, physical: 200 },
+    { plug: -1 as const, logical: 200, physical: -200 },
+  ])('keeps logical PWM stable for plug $plug', ({ plug, logical, physical }) => {
+    expect(motorPwm(logical, plug)).toEqual({ logical, physical });
+  });
+
+  it('clamps before applying plug polarity', () => {
+    expect(motorPwm(-500, -1)).toEqual({ logical: -400, physical: 400 });
+  });
+});