diff --git a/README.md b/README.md
index 97c97e6..8605dc1 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ This repo contains a `gazebo` model, starting from iCub3, and some scripts that
 - [`gazebo`](http://gazebosim.org/)
 - [`robotology-superbuild` v2022.02.0](https://github.com/robotology/robotology-superbuild/releases/tag/v2022.02.0) with [`dynamics profile`](https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#dynamics) enabled and `ROBOTOLOGY_USES_GAZEBO=ON`.
 - For running the [walking and balancing experiment](https://github.com/icub-tech-iit/ergocub-gazebo-simulations/edit/feat_walking_balance/README.md#walking-and-balancing-experiment) the superbuild [dynamics-full-deps](https://github.com/robotology/robotology-superbuild/blob/master/doc/cmake-options.md#dynamics-full-deps) profile and the flag `ROBOTOLOGY_USES_MATLAB` have to be enabled, alongside a matlab installation.
-- [`urdfpy`](https://github.com/mmatl/urdfpy)
+- [`urchin`](https://github.com/fishbotics/urchin)
 - [`dataclasses`](https://pypi.org/project/dataclasses/)
 
 
diff --git a/scripts/fix_inertias.py b/scripts/fix_inertias.py
index 4bb6077..afe6c95 100755
--- a/scripts/fix_inertias.py
+++ b/scripts/fix_inertias.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-from urdfpy import URDF, xyz_rpy_to_matrix, matrix_to_xyz_rpy
+from urchin import URDF, xyz_rpy_to_matrix, matrix_to_xyz_rpy
 import numpy as np
 from enum import Enum
 
@@ -72,4 +72,4 @@ def main():
     robot.save('inertias_fixed.urdf')
 
 if __name__ == "__main__":
-    main()
\ No newline at end of file
+    main()
diff --git a/scripts/modifiers.py b/scripts/modifiers.py
index f4cb89e..23c1ceb 100755
--- a/scripts/modifiers.py
+++ b/scripts/modifiers.py
@@ -1,6 +1,6 @@
 from abc import ABCMeta, abstractmethod
 from dataclasses import dataclass
-from urdfpy import xyz_rpy_to_matrix, matrix_to_xyz_rpy
+from urchin import xyz_rpy_to_matrix, matrix_to_xyz_rpy
 from enums import *
 import math
 import numpy as np
@@ -361,4 +361,4 @@ def get_modifiers(robot, selector):
     elif (selector == Limb.NONE):
         return []
     else:
-        return []
\ No newline at end of file
+        return []
diff --git a/scripts/modify_robot.py b/scripts/modify_robot.py
index d2e693b..22e1be9 100755
--- a/scripts/modify_robot.py
+++ b/scripts/modify_robot.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-from urdfpy import URDF
+from urchin import URDF
 from enums import Limb
 from pathlib import Path
 from modifiers import get_modifiers
@@ -112,4 +112,4 @@ def main(filename, dummy_file, config_file_path, should_reset):
     parser.add_argument('-r', '--reset', help="Sets the robot back to latest version in Git", action="store_true")
     args = parser.parse_args()
     if args.filename is not None:
-        main(args.filename, dummy_file, args.config, args.reset)
\ No newline at end of file
+        main(args.filename, dummy_file, args.config, args.reset)