diff --git a/SimoxUtility/json/eigen_conversion.cpp b/SimoxUtility/json/eigen_conversion.cpp
index 12c4885e6a38f7cc9920ee5804b241837b390233..23044671994debf89f1bb23197086b2e3f7f93fd 100644
--- a/SimoxUtility/json/eigen_conversion.cpp
+++ b/SimoxUtility/json/eigen_conversion.cpp
@@ -1,5 +1,9 @@
 #include "eigen_conversion.h"
 
+#include <SimoxUtility/math/pose/pose.h>
+
+#include <Eigen/Geometry>
+
 
 namespace Eigen
 {
@@ -36,7 +40,7 @@ namespace Eigen
                 ori = j_ori.get<Eigen::Matrix3f>();
             }
 
-            matrix = math::Helpers::Pose(j.at("pos").get<Eigen::Vector3f>(), ori);
+            matrix = simox::math::pose(j.at("pos").get<Eigen::Vector3f>(), ori);
         }
         else
         {
diff --git a/SimoxUtility/json/eigen_conversion.h b/SimoxUtility/json/eigen_conversion.h
index a43bd654a3af6fbf5796ea174aa88c67baa2a544..7bc735bf44d60c89cabf6ccce480f46fb69f250c 100644
--- a/SimoxUtility/json/eigen_conversion.h
+++ b/SimoxUtility/json/eigen_conversion.h
@@ -1,15 +1,8 @@
 #pragma once
 
-#include <type_traits>
-#include <iostream>
-#include <typeinfo>
-
-#include <Eigen/Core>
-
-#include <VirtualRobot/math/Helpers.h>
-
 #include "json.hpp"
 
+#include <Eigen/Core>
 
 /**
  * Provide `to_json()` and `from_json()` overloads for `nlohmann::json`,
diff --git a/SimoxUtility/tests/json/EigenConversionTest.cpp b/SimoxUtility/tests/json/EigenConversionTest.cpp
index 1b88400c6f67e46a0d19291e910f1a3314ea80c3..d2dcb8aa786bed60363a3a579ded435d9fa08eea 100644
--- a/SimoxUtility/tests/json/EigenConversionTest.cpp
+++ b/SimoxUtility/tests/json/EigenConversionTest.cpp
@@ -12,6 +12,7 @@
 #include <Eigen/Geometry>
 
 #include <SimoxUtility/json/eigen_conversion.h>
+#include <SimoxUtility/math/pose/pose.h>
 
 
 namespace Eigen
@@ -54,7 +55,7 @@ BOOST_AUTO_TEST_CASE(test_Matrix4f_non_transform)
 
 BOOST_AUTO_TEST_CASE(test_Matrix4f_transform)
 {
-    Eigen::Matrix4f in = math::Helpers::Pose(Eigen::Vector3f { 3, 2, 3 },
+    Eigen::Matrix4f in = simox::math::pose(Eigen::Vector3f { 3, 2, 3 },
                                       Eigen::AngleAxisf( 1.2f, Eigen::Vector3f(1,2,3).normalized()));
     Eigen::Matrix4f out = out.Zero();
 
@@ -129,7 +130,7 @@ BOOST_AUTO_TEST_CASE(test_Matrix4f_transform_from_pos_ori)
 {
     Eigen::Vector3f pos(0, -1, 2.5);
     Eigen::Quaternionf ori(Eigen::AngleAxisf(static_cast<float>(M_PI_2), Eigen::Vector3f::UnitY()));
-    Eigen::Matrix4f in = math::Helpers::Pose(pos, ori);
+    Eigen::Matrix4f in = simox::math::pose(pos, ori);
     Eigen::Matrix4f out = out.Zero();
 
     // ori = Eigen::Quaternion