diff --git a/CMakeLists.txt b/CMakeLists.txt
index 42c395b640a1d8532511a947ebc60656cc0c7f5c..f91fd26cab3d308fceb2798efb945809ff367e5c 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,11 +45,10 @@ IF (HPP_DEBUG)
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
 ENDIF()
 
-ADD_DOC_DEPENDENCY("hpp-core >= 3")
-ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 3")
+ADD_DOC_DEPENDENCY("hpp-core >= 4.2")
+ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.2")
 ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
 ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
-ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
 ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
 ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 23a9095c4812ba95fe536aabc5272a8fe5d4ad14..06f01c6864203e5b39697e095b26414d01018e81 100755
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -84,7 +84,6 @@ ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_cpp)
 ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_python)
 
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-model-urdf)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-corbaserver)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-affordance-corba)
@@ -124,6 +123,6 @@ INSTALL(
 # Stand alone corba server
 ADD_EXECUTABLE (hpp-rbprm-server hpp-rbprm-corba.cc)
 TARGET_LINK_LIBRARIES (hpp-rbprm-server ${LIBRARY_NAME} hpp-rbprm)
-PKG_CONFIG_USE_DEPENDENCY(hpp-rbprm-server hpp-model-urdf)
+
 
 INSTALL (TARGETS hpp-rbprm-server DESTINATION ${CMAKE_INSTALL_BINDIR})