diff --git a/sim2sim/util/util.py b/sim2sim/util/util.py
index 9767ff2..7aa8dad 100644
--- a/sim2sim/util/util.py
+++ b/sim2sim/util/util.py
@@ -12,7 +12,7 @@
 import trimesh
 
 from manipulation.meshcat_utils import AddMeshcatTriad
-from manipulation.utils import AddPackagePaths
+from manipulation.utils import ConfigureParser
 from pydrake.all import (
     Box,
     Capsule,
@@ -38,7 +38,7 @@
 def get_parser(plant: MultibodyPlant) -> Parser:
     """Creates a parser for a plant and adds package paths to it."""
     parser = Parser(plant)
-    AddPackagePaths(parser)
+    ConfigureParser(parser)
     parser.package_map().Add("sim2sim", os.path.abspath(""))
     return parser