diff --git a/src/jaxsim/mujoco/utils.py b/src/jaxsim/mujoco/utils.py
index e4c2ce70f..2afff1732 100644
--- a/src/jaxsim/mujoco/utils.py
+++ b/src/jaxsim/mujoco/utils.py
@@ -8,7 +8,7 @@
 import numpy.typing as npt
 from scipy.spatial.transform import Rotation
 
-from . import MujocoModelHelper
+from .model import MujocoModelHelper
 
 
 def mujoco_data_from_jaxsim(