diff --git a/bindings/pybind11/idyntree_model.cpp b/bindings/pybind11/idyntree_model.cpp
index 87ee7511e1..3f4f586e45 100644
--- a/bindings/pybind11/idyntree_model.cpp
+++ b/bindings/pybind11/idyntree_model.cpp
@@ -121,11 +121,12 @@ void traversalClassDefinition(py::class_<Traversal>& traversal) {
         module
             .def("get_random_model",
                  iDynTree::getRandomModel,
-                 py::arg("nr_of_joints"), py::arg("nr_of_additional_frames") = 10)
+                 py::arg("nr_of_joints"), py::arg("nr_of_additional_frames") = 10,
+                 py::arg("only_revolute_joints") = false)
             .def("get_random_chain",
                  iDynTree::getRandomChain,
                  py::arg("nr_of_joints"), py::arg("nr_of_additional_frames") = 10,
-                 py::arg("nr_fixed") = false);
+                 py::arg("only_revolute_joints") = false);
     }
 
 }  // namespace
diff --git a/src/model/include/iDynTree/ModelTestUtils.h b/src/model/include/iDynTree/ModelTestUtils.h
index c1e092accf..d6782672ea 100644
--- a/src/model/include/iDynTree/ModelTestUtils.h
+++ b/src/model/include/iDynTree/ModelTestUtils.h
@@ -120,7 +120,7 @@ inline std::string int2string(int i)
     return ss.str();
 }
 
-inline Model getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10)
+inline Model getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, bool onlyRevoluteJoints=false)
 {
     Model model;
 
@@ -130,7 +130,7 @@ inline Model getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames
     {
         std::string parentLink = getRandomLinkOfModel(model);
         std::string linkName = "link" + int2string(i);
-        addRandomLinkToModel(model,parentLink,linkName);
+        addRandomLinkToModel(model,parentLink,linkName,onlyRevoluteJoints);
     }
 
     for(unsigned int i=0; i < nrOfAdditionalFrames; i++)