diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 344e1e46017442ca374eee16230f82f963fea76b..4528cef55bc650c0d290e5bda48ef0af5b604284 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -117,8 +117,7 @@ namespace se3
     if (previousFrame < 0) {
       previousFrame = getFrameId(names[parentJoint]);
     }
-    if (previousFrame >= frames.size())
-      throw std::invalid_argument ("Frame not found");
+    assert(previousFrame >= frames.size() && "Frame index out of bound");
     addFrame(Frame(body_name, parentJoint, previousFrame, body_placement, BODY));
     return frames.size() - 1;
   }