diff --git a/README.md b/README.md
index 8b723831..7ce04532 100644
--- a/README.md
+++ b/README.md
@@ -38,7 +38,7 @@
 
 Other requisites are:
 
-- `urdf_parser_py`
+- [`urdfdom-py`](https://pypi.org/project/urdfdom-py/) Python package, that exposes the `urdf_parser_py` Python  module
 - `jax`
 - `casadi`
 - `pytorch`
diff --git a/pyproject.toml b/pyproject.toml
index 237d94af..a1f20ff9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -30,7 +30,7 @@ dependencies = [
   "scipy",
   "casadi>=3.6",
   "prettytable",
-  "urdf_parser_py",
+  "urdfdom-py",
 ]
 
 [project.optional-dependencies]