diff --git a/cereal b/cereal
index 1ee48e0110..3cac040c5b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 1ee48e0110a46fbdd9db50ed89a38bb5a748cfcb
+Subproject commit 3cac040c5b219402cb9b234d53c78a6007298534
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
index ce80d90d29..c5cb9e0056 100644
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -1,20 +1,20 @@
 # distutils: language = c++
 # cython: language_level = 3
-from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from common.transformations.transformations cimport euler2quat as euler2quat_c
-from common.transformations.transformations cimport quat2euler as quat2euler_c
-from common.transformations.transformations cimport quat2rot as quat2rot_c
-from common.transformations.transformations cimport rot2quat as rot2quat_c
-from common.transformations.transformations cimport euler2rot as euler2rot_c
-from common.transformations.transformations cimport rot2euler as rot2euler_c
-from common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from common.transformations.transformations cimport LocalCoord_c
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
 import cython
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index f19138b179..d1769c4bec 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -23,7 +23,7 @@ ExitHandler do_exit;
 mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) {
   /*
      import numpy as np
-     from common.transformations.model import medmodel_frame_from_calib_frame
+     from openpilot.common.transformations.model import medmodel_frame_from_calib_frame
      medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3]
      calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame)
   */
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 15b69ebd1d..1174dbab83 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -104,7 +104,7 @@ output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_
 Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values.
 
 ```py
-from tools.lib.framereader import FrameReader
+from openpilot.tools.lib.framereader import FrameReader
 
 frs = {
   'roadCameraState': FrameReader(...),
diff --git a/tools/lib/README.md b/tools/lib/README.md
index 8f540a5c82..daf74aaf40 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -3,8 +3,8 @@
 Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
 
 ```python
-from tools.lib.route import Route
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
 
 r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
 
@@ -37,8 +37,8 @@ for msg in lr:
 `MultiLogIterator` is similar to `LogReader`, but reads multiple logs. 
 
 ```python
-from tools.lib.route import Route
-from tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import MultiLogIterator
 
 # setup a MultiLogIterator to read all the logs in the route
 r = Route("a2a0ccea32023010|2023-07-27--13-01-19")