diff --git a/spatialmath/pose3d.py b/spatialmath/pose3d.py
index dfc91a86..5c5d5a94 100644
--- a/spatialmath/pose3d.py
+++ b/spatialmath/pose3d.py
@@ -1685,10 +1685,12 @@ def Rand(
         )
 
     @overload
+    @classmethod
     def Eul(cls, phi: float, theta: float, psi: float, unit: str = "rad") -> SE3:
         ...
 
     @overload
+    @classmethod
     def Eul(cls, angles: ArrayLike3, unit: str = "rad") -> SE3:
         ...
 
@@ -1735,10 +1737,12 @@ def Eul(cls, *angles, unit="rad") -> SE3:
             return cls([smb.eul2tr(a, unit=unit) for a in angles], check=False)
 
     @overload
+    @classmethod
     def RPY(cls, roll: float, pitch: float, yaw: float, unit: str = "rad") -> SE3:
         ...
 
     @overload
+    @classmethod
     def RPY(cls, angles: ArrayLike3, unit: str = "rad") -> SE3:
         ...
 
@@ -1985,10 +1989,12 @@ def Delta(cls, d: ArrayLike6) -> SE3:
         return cls(smb.trnorm(smb.delta2tr(d)))
 
     @overload
+    @classmethod
     def Trans(cls, x: float, y: float, z: float) -> SE3:
         ...
 
     @overload
+    @classmethod
     def Trans(cls, xyz: ArrayLike3) -> SE3:
         ...