diff --git a/toolbox/base/CMakeLists.txt b/toolbox/base/CMakeLists.txt
index 8eb4c15b..4376f1d8 100644
--- a/toolbox/base/CMakeLists.txt
+++ b/toolbox/base/CMakeLists.txt
@@ -24,7 +24,7 @@ target_link_libraries(WBToolboxBase
     YARP::YARP_init
     YARP::YARP_dev
     iDynTree::idyntree-model
-    iDynTree::idyntree-modelio-urdf
+    iDynTree::idyntree-modelio
     iDynTree::idyntree-high-level)
 
 target_include_directories(WBToolboxBase PUBLIC
diff --git a/toolbox/base/src/RobotInterface.cpp b/toolbox/base/src/RobotInterface.cpp
index 80a28b0b..db995066 100644
--- a/toolbox/base/src/RobotInterface.cpp
+++ b/toolbox/base/src/RobotInterface.cpp
@@ -14,7 +14,7 @@
 #include <iDynTree/FreeFloatingMatrices.h>
 #include <iDynTree/Indices.h>
 #include <iDynTree/Model.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/ModelLoader.h>
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/os/Bottle.h>
diff --git a/toolbox/library/CMakeLists.txt b/toolbox/library/CMakeLists.txt
index aeba0b85..d0784adf 100644
--- a/toolbox/library/CMakeLists.txt
+++ b/toolbox/library/CMakeLists.txt
@@ -101,7 +101,7 @@ list(APPEND WBTOOLBOXLIBRARY_EXT_LIBRARIES
     YARP::YARP_math
     iDynTree::idyntree-core
     iDynTree::idyntree-model
-    iDynTree::idyntree-modelio-urdf
+    iDynTree::idyntree-modelio
     iDynTree::idyntree-high-level)
 
 # Additional dependency of the SimulatorSynchronizer block
diff --git a/toolbox/library/src/InverseKinematics.cpp b/toolbox/library/src/InverseKinematics.cpp
index 031ae8d8..4ad5c0d9 100644
--- a/toolbox/library/src/InverseKinematics.cpp
+++ b/toolbox/library/src/InverseKinematics.cpp
@@ -8,7 +8,7 @@
 #include <iCub/iKin/iKinFwd.h>
 #include <iCub/iKin/iKinIpOpt.h>
 #include <iDynTree/DenavitHartenberg.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/ModelLoader.h>
 #include <iDynTree/iKinConversions.h>
 #include <wbi/wholeBodyInterface.h>
 #include <yarp/os/ResourceFinder.h>