diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index facb1e3932e9b1a7ac1b4c2510f32cdfbd9bfb80..2ea1a8f0fd280b3e495cab1cdf49eed109012810 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -4,9 +4,8 @@
 
 #include <VirtualRobot/Robot.h>
 #include <VirtualRobot/LinkedCoordinate.h>
-#include <VirtualRobot/LinkedCoordinate.h>
 #include <VirtualRobot/VirtualRobot.h>
-
+#include <VirtualRobot/RobotConfig.h>
 using namespace Eigen;
 using namespace std;
 
@@ -76,7 +75,7 @@ namespace armarx
     {
         if (frame == "")
         {
-            frame == GlobalFrame;
+            frame = GlobalFrame;
         }
 
 
@@ -205,7 +204,7 @@ namespace armarx
         else
         {
             auto node = robotState->getRobotNode(oldFrame);
-            ARMARX_CHECK_EXPRESSION_W_HINT(node, "old frame: " + oldFrame);
+            ARMARX_CHECK_EXPRESSION_W_HINT(node, "old frame: " + oldFrame + ValueToString(robotState->getConfig()->getRobotNodeJointValueMap()));
             auto newNode = robotState->getRobotNode(newFrame);
             ARMARX_CHECK_EXPRESSION_W_HINT(newNode, newFrame);
             toNewFrame = node->getTransformationTo(newNode);