diff --git a/unittest/urdf.cpp b/unittest/urdf.cpp
index 1907368c13f03dddacb99689ef7b896dde31506b..c8fc25cd77ce4ae2af3fbb3f3a0444f4821115f9 100644
--- a/unittest/urdf.cpp
+++ b/unittest/urdf.cpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -27,30 +27,28 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 
 BOOST_AUTO_TEST_CASE ( build_model )
 {
-  std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
-
-  #ifndef NDEBUG
-     std::cout << "Parse filename \"" << filename << "\"" << std::endl;
-  #endif
-    se3::Model model;
-    se3::urdf::buildModel(filename, model);
-    se3::GeometryModel geomModel;
-    se3::urdf::buildGeom(model, filename, se3::COLLISION, geomModel);
-    std::cout << "Robot's name:" << model.name << std::endl;
+  const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/urdf/romeo.urdf";
+  const std::string dir = PINOCCHIO_SOURCE_DIR"/models/romeo";
+  
+  se3::Model model;
+  se3::urdf::buildModel(filename, model);
+  se3::GeometryModel geomModel;
+  se3::urdf::buildGeom(model, filename, se3::COLLISION, geomModel, dir);
+  
+  BOOST_CHECK(model.nq == 31);
 }
   
-  BOOST_AUTO_TEST_CASE ( build_model_with_joint )
-  {
-    std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
-    
-#ifndef NDEBUG
-    std::cout << "Parse filename \"" << filename << "\"" << std::endl;
-#endif
-    se3::Model model;
-    se3::urdf::buildModel(filename, se3::JointModelFreeFlyer(), model);
-    se3::GeometryModel geomModel;
-    se3::urdf::buildGeom(model, filename, se3::COLLISION, geomModel);
-    std::cout << "Robot's name:" << model.name << std::endl;
-  }
+BOOST_AUTO_TEST_CASE ( build_model_with_joint )
+{
+  const std::string filename = PINOCCHIO_SOURCE_DIR"/models/romeo/urdf/romeo.urdf";
+  const std::string dir = PINOCCHIO_SOURCE_DIR"/models/romeo";
+  
+  se3::Model model;
+  se3::urdf::buildModel(filename, se3::JointModelFreeFlyer(), model);
+  se3::GeometryModel geomModel;
+  se3::urdf::buildGeom(model, filename, se3::COLLISION, geomModel, dir);
+  
+  BOOST_CHECK(model.nq == 38);
+}
 
 BOOST_AUTO_TEST_SUITE_END()