diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index e808a4b2e31f7d3763b0a0a8052502eb77260f27..2fdfe591a210b375badfe3aa79bbab6b650e1bef 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -69,7 +69,7 @@ namespace armarx::armem::common::robot_state::localization
                 
         if (transforms.empty())
         {
-            ARMARX_WARNING << deactivateSpam(1) << "No transform available.";
+            ARMARX_INFO << deactivateSpam(1) << "No transform available.";
             return {.transform    = {.header = query.header},
                     .status       = TransformResult::Status::ErrorFrameNotAvailable,
                     .errorMessage = "Error in TF loookup:  '" + query.header.parentFrame +
@@ -114,7 +114,7 @@ namespace armarx::armem::common::robot_state::localization
                     localizationCoreSegment, tfChain, query.header.agent, query.header.timestamp);
         if (transforms.empty())
         {
-            ARMARX_WARNING << deactivateSpam(1) << "No transform available.";
+            ARMARX_INFO << deactivateSpam(1) << "No transform available.";
             return
             {
                 .header = query.header,
@@ -175,7 +175,7 @@ namespace armarx::armem::common::robot_state::localization
 
         if (chain.empty() or chain.back() != query.header.frame)
         {
-            ARMARX_WARNING << deactivateSpam(60) << "Cannot create tf lookup chain '" << query.header.parentFrame
+            ARMARX_INFO << deactivateSpam(10) << "Cannot create tf lookup chain '" << query.header.parentFrame
                            << " -> " << query.header.frame << "' for robot `" + query.header.agent + "`.";
             return {};
         }