diff --git a/CMakeLists.txt b/CMakeLists.txt
index 003a534..40fbb04 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@ include(GNUInstallDirs)
 include(FeatureSummary)
 
 find_package(Eigen3 REQUIRED)
-find_package(iDynTree 12.3.1 REQUIRED)
+find_package(iDynTree 12.4.0 REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(LibXml2 REQUIRED)
 
diff --git a/src/creo2urdf/CMakeLists.txt b/src/creo2urdf/CMakeLists.txt
index b5e91c1..b525a6f 100644
--- a/src/creo2urdf/CMakeLists.txt
+++ b/src/creo2urdf/CMakeLists.txt
@@ -69,6 +69,7 @@ add_compile_definitions(creo2urdf PUBLIC PRO_MACHINE=36
 # Link dependencies
 target_link_libraries(creo2urdf PRIVATE iDynTree::idyntree-modelio
                                         iDynTree::idyntree-high-level
+                                        iDynTree::idyntree-model
                                         yaml-cpp::yaml-cpp
                                         LibXml2::LibXml2
                                         Eigen3::Eigen
diff --git a/src/creo2urdf/src/Creo2Urdf.cpp b/src/creo2urdf/src/Creo2Urdf.cpp
index 8ea59e8..692fef3 100644
--- a/src/creo2urdf/src/Creo2Urdf.cpp
+++ b/src/creo2urdf/src/Creo2Urdf.cpp
@@ -13,6 +13,7 @@
 
 #include <iDynTree/PrismaticJoint.h>
 #include <iDynTree/EigenHelpers.h>
+#include <iDynTree/ModelTransformers.h>
 
 #include <Eigen/Core>
 
@@ -440,7 +441,12 @@ void Creo2Urdf::OnCommand() {
 bool Creo2Urdf::exportModelToUrdf(iDynTree::Model mdl, iDynTree::ModelExporterOptions options) {
     iDynTree::ModelExporter mdl_exporter;
 
-    mdl_exporter.init(mdl);
+    // Convert modelToExport in a URDF-compatible model (using the default base link)
+    iDynTree::Model modelToExportURDFCompatible;
+
+    bool ok = iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink(mdl, modelToExportURDFCompatible);
+
+    mdl_exporter.init(modelToExportURDFCompatible);
     mdl_exporter.setExportingOptions(options);
 
     if (!mdl_exporter.isValid())