diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index 235a76aef7e856a89c8e3829157425d35a4226cd..50f510c4946191c4442baf11f22c12702a48ecb5 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -114,14 +114,21 @@ typedef double Color [4];
     /// \param input RGBAcolor : color of the face.
     boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) raises (Error);
 
-    /// parse an URDF model
-    /// a groupNode will be created and each link will be child node of this node.
-    /// Links will be named "prefix/linkName", linkName is the name of the link
+    /// Create a node from an urdf file
+    /// \param robotName Name of the node that will contain the robot geometry,
+    ///                  each geometric part is prefixed by this name,
+    /// \param urdfFilePath to the package containing the urdf file,
+    ///                       i.e. "/opt/ros/hydro/share/pr2_description",
+    /// \param meshDataRootDir path to the package that contains the collada
+    ///                        files, this path should finish by "/",
+    ///                        i.e. "/opt/ros/hydro/share/"
+    /// \note the parser will replace "package://" by meshDataRootDir in the
+    ///       urdf file.
+    /// a groupNode is created and each link will be child node of this node.
+    /// Links are named "prefix/linkName", linkName is the name of the link
     /// in the URDF file.
-    /// \param input prefix: name of the groupNode that will be created.
-    /// \param input urdfPath : full path to the URDF file.
-    /// \param input urdfPackage : path of the package to the package folder of the robot (this path should finish by "/").
-    boolean addURDF(in string prefix, in string urdfPath, in string urdfPackage) raises (Error);
+    boolean addURDF (in string robotName, in string urdfFilePath,
+		     in string meshDataRootDir) raises (Error);
 
     /// create a groupNode called groupName
     /// \param input groupName : name of the group.