diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
index 0bf14ec90439e50a4869234b81449adaf068d173..deed74c9ada113f05d10286a370b703d6a712642 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
@@ -14,4 +14,14 @@ namespace armarx::aron
         dto = bo.matrix();
     }
 
+    void fromAron(const AronPose& dto, Eigen::Isometry3f& bo)
+    {
+        bo.matrix() = dto;
+    }
+
+    void toAron(AronPose& dto, const Eigen::Isometry3f& bo)
+    {
+        dto = bo.matrix();
+    }
+
 }  // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
index 3f091dbfc40ee8e91b8d2922687273269ce790a8..3520b2dedd7c10f2d358cb7997269871979b52ed 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
@@ -9,4 +9,7 @@ namespace armarx::aron
     void fromAron(const AronPose& dto, Eigen::Affine3f& bo);
     void toAron(AronPose& dto, const Eigen::Affine3f& bo);
 
+    void fromAron(const AronPose& dto, Eigen::Isometry3f& bo);
+    void toAron(AronPose& dto, const Eigen::Isometry3f& bo);
+
 }  // namespace armarx