diff --git a/spatial_casadi/spatial.py b/spatial_casadi/spatial.py
index cd02223..69496b0 100644
--- a/spatial_casadi/spatial.py
+++ b/spatial_casadi/spatial.py
@@ -99,7 +99,7 @@ def __mul__(self, other):
             p = self.as_quat()
             q = other.as_quat()
             r = _compose_quat(p, q)
-            return Rotation(r, normalize=not isinstance(r, casadi.SX))
+            return Rotation(r, normalize=not isinstance(r, (casadi.SX, casadi.MX)))
 
         elif isinstance(other, Translation):
             return Translation(self.as_matrix() @ other.as_vector())
@@ -135,7 +135,7 @@ def inv(self):
         """! Invert this rotation."""
         return Rotation(
             casadi.vertcat(self._quat[:-1], -self._quat[-1]),
-            normalize=not isinstance(self._quat, casadi.SX),
+            normalize=not isinstance(self._quat, (casadi.SX, casadi.MX)),
         )
 
     def magnitude(self):
@@ -175,7 +175,7 @@ def from_quat(quat: ArrayType, seq: str = "xyzw"):
 
         quat_use = casadi.vertcat(x, y, z, w)
 
-        return Rotation(quat_use, normalize=not isinstance(quat, casadi.SX))
+        return Rotation(quat_use, normalize=not isinstance(quat, (casadi.SX, casadi.MX)))
 
     @staticmethod
     def from_matrix(matrix: ArrayType):
@@ -228,7 +228,7 @@ def alt_true_case(i, j, k):
             ),
         )
 
-        return Rotation(quat, normalize=not isinstance(quat, casadi.SX))
+        return Rotation(quat, normalize=not isinstance(quat, (casadi.SX, casadi.MX)))
 
     @staticmethod
     def from_rotvec(rotvec: ArrayType, degrees: bool = False):
@@ -260,7 +260,7 @@ def from_rotvec(rotvec: ArrayType, degrees: bool = False):
             casadi.cos(angle * 0.5),
         )
 
-        return Rotation(quat, normalize=not isinstance(quat, casadi.SX))
+        return Rotation(quat, normalize=not isinstance(quat, (casadi.SX, casadi.MX)))
 
     @staticmethod
     def from_mrp(mrp: ArrayType):
@@ -280,7 +280,7 @@ def from_mrp(mrp: ArrayType):
             (2.0 - mrp_squared_plus_1) / mrp_squared_plus_1,
         )
 
-        return Rotation(quat, normalize=not isinstance(mrp, casadi.SX))
+        return Rotation(quat, normalize=not isinstance(mrp, (casadi.SX, casadi.MX)))
 
     @staticmethod
     def from_euler(seq, angles, degrees=False):
@@ -323,7 +323,7 @@ def from_euler(seq, angles, degrees=False):
 
         quat = _elementary_quat_compose(seq, angles, intrinsic)
 
-        return Rotation(quat, normalize=not isinstance(quat, casadi.SX))
+        return Rotation(quat, normalize=not isinstance(quat, (casadi.SX, casadi.MX)))
 
     #
     # As methods