diff --git a/package-lock.json b/package-lock.json
index 8022c9e4a..9bf99a6a0 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -9,7 +9,7 @@
       "version": "1.4.1",
       "license": "BSD-2-Clause",
       "dependencies": {
-        "@xmldom/xmldom": "^0.9.0",
+        "@xmldom/xmldom": "^0.9.8",
         "cbor-js": "^0.1.0",
         "eventemitter3": "^5.0.1",
         "pngparse": "^2.0.0",
@@ -2199,11 +2199,11 @@
       "dev": true
     },
     "node_modules/@xmldom/xmldom": {
-      "version": "0.9.0",
-      "resolved": "https://registry.npmjs.org/@xmldom/xmldom/-/xmldom-0.9.0.tgz",
-      "integrity": "sha512-Zb9MTlKGnUdxglDKF75cJwvsNp+EhPwzguLSTp/u1yeDU59lz7eA9e14S9z/sn5HHKX5NEQZaKjePl/69uqGhw==",
+      "version": "0.9.8",
+      "resolved": "https://registry.npmjs.org/@xmldom/xmldom/-/xmldom-0.9.8.tgz",
+      "integrity": "sha512-p96FSY54r+WJ50FIOsCOjyj/wavs8921hG5+kVMmZgKcvIKxMXHTrjNJvRgWa/zuX3B6t2lijLNFaOyuxUH+2A==",
       "engines": {
-        "node": ">=10.0.0"
+        "node": ">=14.6"
       }
     },
     "node_modules/acorn": {
diff --git a/package.json b/package.json
index 1eaf0c486..334be1e05 100644
--- a/package.json
+++ b/package.json
@@ -33,7 +33,7 @@
     "vitest": "^3.0.2"
   },
   "dependencies": {
-    "@xmldom/xmldom": "^0.9.0",
+    "@xmldom/xmldom": "^0.9.8",
     "cbor-js": "^0.1.0",
     "eventemitter3": "^5.0.1",
     "pngparse": "^2.0.0",
@@ -70,4 +70,4 @@
   ],
   "types": "dist/RosLib.d.ts",
   "author": "Robot Webtools Team <robot-web-tools@googlegroups.com> (https://robotwebtools.github.io)"
-}
+}
\ No newline at end of file
diff --git a/src/urdf/UrdfModel.ts b/src/urdf/UrdfModel.ts
index 273843d3f..c1f06ba01 100644
--- a/src/urdf/UrdfModel.ts
+++ b/src/urdf/UrdfModel.ts
@@ -4,7 +4,7 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
-import { DOMParser, MIME_TYPE } from '@xmldom/xmldom';
+import { DOMParser, Element, MIME_TYPE } from '@xmldom/xmldom';
 import UrdfMaterial from './UrdfMaterial.js';
 import UrdfLink from './UrdfLink.js';
 import UrdfJoint from './UrdfJoint.js';
@@ -18,7 +18,7 @@ export interface UrdfModelOptions {
   /**
    * The XML element to parse.
    */
-  xml?: Element;
+  xml: Element | null;
   /**
    * The XML element to parse as a string.
    */
diff --git a/src/urdf/UrdfTypes.ts b/src/urdf/UrdfTypes.ts
index c649c58c4..20738650b 100644
--- a/src/urdf/UrdfTypes.ts
+++ b/src/urdf/UrdfTypes.ts
@@ -1,3 +1,5 @@
+import { Element } from '@xmldom/xmldom';
+
 export enum UrdfType {
   SPHERE = 0,
   BOX = 1,
diff --git a/src/urdf/UrdfUtils.ts b/src/urdf/UrdfUtils.ts
index 43613d229..da52493da 100644
--- a/src/urdf/UrdfUtils.ts
+++ b/src/urdf/UrdfUtils.ts
@@ -1,4 +1,5 @@
 /********** Utility Methods for parsing Joint **********/
+import { Element, Node } from '@xmldom/xmldom';
 import { Pose, Quaternion, Vector3 } from '../math/index.js';
 import { UrdfAttrs } from './UrdfTypes.js';
 
diff --git a/src/urdf/UrdfVisual.ts b/src/urdf/UrdfVisual.ts
index c00b9262b..2be4685c2 100644
--- a/src/urdf/UrdfVisual.ts
+++ b/src/urdf/UrdfVisual.ts
@@ -4,6 +4,7 @@
  * @author Russell Toris - rctoris@wpi.edu
  */
 
+import { Element } from '@xmldom/xmldom';
 import Pose from '../math/Pose.js';
 import UrdfCylinder from './UrdfCylinder.js';
 import UrdfBox from './UrdfBox.js';