diff --git a/examples/jaxsim_as_physics_engine.ipynb b/examples/jaxsim_as_physics_engine.ipynb
index 90e2eeb76..3d8e944fb 100644
--- a/examples/jaxsim_as_physics_engine.ipynb
+++ b/examples/jaxsim_as_physics_engine.ipynb
@@ -76,10 +76,11 @@
    "source": [
     "## Prepare the simulation\n",
     "\n",
-    "JaxSim supports loading robot descriptions from both [SDF][sdformat] and [URDF][urdf] files. In this example, we will load the ergoCub model urdf.\n",
+    "JaxSim supports loading robot descriptions from both [SDF][sdformat] and [URDF][urdf] files. In this example, we will load the [ergoCub][ergocub] model urdf.\n",
     "\n",
     "[sdformat]: http://sdformat.org/\n",
     "[urdf]: http://wiki.ros.org/urdf/\n",
+    "[ergocub]: https://ergocub.eu/\n",
     "[rod]: https://github.com/ami-iit/rod\n",
     "\n",
     "### Create the model and its data\n",