diff --git a/include/urdf_model/types.h b/include/urdf_model/types.h
index 3041765..7165c41 100644
--- a/include/urdf_model/types.h
+++ b/include/urdf_model/types.h
@@ -67,6 +67,8 @@ URDF_TYPEDEF_CLASS_POINTER(Mesh);
 URDF_TYPEDEF_CLASS_POINTER(Sphere);
 URDF_TYPEDEF_CLASS_POINTER(Visual);
 
+URDF_TYPEDEF_CLASS_POINTER(ModelInterface);
+
 // create *_pointer_cast functions in urdf namespace
 template<class T, class U>
 std::shared_ptr<T> const_pointer_cast(std::shared_ptr<U> const & r)
diff --git a/include/urdf_world/types.h b/include/urdf_world/types.h
index 1cd5be9..e7c4077 100644
--- a/include/urdf_world/types.h
+++ b/include/urdf_world/types.h
@@ -37,16 +37,7 @@
 #ifndef URDF_WORLD_TYPES_H
 #define URDF_WORLD_TYPES_H
 
-#include <memory>
-
-
-namespace urdf{
-
-class ModelInterface;
-
-// typedef shared pointers
-typedef std::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;
-
-}
+#warning urdf_world/types.h is deprecated. Please use urdf_model/types.h instead.
+#include <urdf_model/types.h>
 
 #endif
diff --git a/include/urdf_world/world.h b/include/urdf_world/world.h
index 2a98b81..909d599 100644
--- a/include/urdf_world/world.h
+++ b/include/urdf_world/world.h
@@ -74,10 +74,9 @@
 #include <vector>
 #include <map>
 
-#include "urdf_model/model.h"
+#include "urdf_model/types.h"
 #include "urdf_model/pose.h"
 #include "urdf_model/twist.h"
-#include "urdf_world/types.h"
 
 namespace urdf{
 
@@ -107,4 +106,3 @@ class World
 }
 
 #endif
-