diff --git a/src/adam/model/model.py b/src/adam/model/model.py
index 5d34a62f..b2224f7b 100644
--- a/src/adam/model/model.py
+++ b/src/adam/model/model.py
@@ -124,7 +124,7 @@ def get_joints_chain(self, root: str, target: str) -> List[Joint]:
             List[Joint]: the list of the joints
         """
 
-        if target not in list(self.links) and target not in list(self.tree.graph):
+        if target not in list(self.frames) and target not in list(self.tree.graph):
             raise ValueError(f"{target} is not not in the robot model.")
 
         if target == root: