diff --git a/src/adam/numpy/computations.py b/src/adam/numpy/computations.py
index ad531f08..e6483d6e 100644
--- a/src/adam/numpy/computations.py
+++ b/src/adam/numpy/computations.py
@@ -24,7 +24,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
diff --git a/src/adam/parametric/casadi/computations_parametric.py b/src/adam/parametric/casadi/computations_parametric.py
index 37459821..a6f44021 100644
--- a/src/adam/parametric/casadi/computations_parametric.py
+++ b/src/adam/parametric/casadi/computations_parametric.py
@@ -29,7 +29,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of the parametrized links
             root_link (str, optional): the first link. Defaults to 'root_link'.
diff --git a/src/adam/parametric/jax/computations_parametric.py b/src/adam/parametric/jax/computations_parametric.py
index 42865f00..2750e194 100644
--- a/src/adam/parametric/jax/computations_parametric.py
+++ b/src/adam/parametric/jax/computations_parametric.py
@@ -30,7 +30,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of parametric links
             root_link (str, optional): the first link. Defaults to 'root_link'.
diff --git a/src/adam/parametric/numpy/computations_parametric.py b/src/adam/parametric/numpy/computations_parametric.py
index 66c5be91..8e5748d9 100644
--- a/src/adam/parametric/numpy/computations_parametric.py
+++ b/src/adam/parametric/numpy/computations_parametric.py
@@ -27,7 +27,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of parametric links
             root_link (str, optional): the first link. Defaults to 'root_link'.
diff --git a/src/adam/parametric/pytorch/computations_parametric.py b/src/adam/parametric/pytorch/computations_parametric.py
index 03c2f80b..9472dcd0 100644
--- a/src/adam/parametric/pytorch/computations_parametric.py
+++ b/src/adam/parametric/pytorch/computations_parametric.py
@@ -30,7 +30,7 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             links_name_list (list): list of parametric links
             root_link (str, optional): the first link. Defaults to 'root_link'.
diff --git a/src/adam/pytorch/computations.py b/src/adam/pytorch/computations.py
index ad64cc4d..1c314bcb 100644
--- a/src/adam/pytorch/computations.py
+++ b/src/adam/pytorch/computations.py
@@ -27,12 +27,12 @@ def __init__(
     ) -> None:
         """
         Args:
-            urdfstring (str): path of the urdf
+            urdfstring (str): either path or string of the urdf
             joints_name_list (list): list of the actuated joints
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
+        factory = URDFModelFactory(path=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = self.rbdalgos.NDoF