diff --git a/src/alitra/frame_transform.py b/src/alitra/frame_transform.py
index ca7d54f..2309020 100644
--- a/src/alitra/frame_transform.py
+++ b/src/alitra/frame_transform.py
@@ -69,6 +69,9 @@ def transform_quaternion(
         from_: Literal["robot", "asset"],
         to_: Literal["robot", "asset"],
     ) -> Quaternion:
+        if from_ == to_:
+            return quaternion
+
         quaternion_from: Rotation = Rotation.from_quat(quaternion.as_np_array())
 
         if not isinstance(quaternion, Quaternion):