diff --git a/src/pycram/description.py b/src/pycram/description.py
index a4accfc15..01ce538ba 100644
--- a/src/pycram/description.py
+++ b/src/pycram/description.py
@@ -236,7 +236,8 @@ def remove_constraint_with_link(self, child_link: 'Link') -> None:
         """
         self.world.remove_constraint(self.constraint_ids[child_link])
         del self.constraint_ids[child_link]
-        del child_link.constraint_ids[self]
+        if self in child_link.constraint_ids.keys():
+            del child_link.constraint_ids[self]
 
     @property
     def is_root(self) -> bool: