diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
index 0c063d3b7c..bb028e9a19 100644
--- a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
+++ b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -240,8 +240,13 @@ class MoveItConfigsBuilder(ParameterBuilder):
     __config_dir_path = Path("config")
 
     # Look-up for robot_name_moveit_config package
-    def __init__(self, robot_name: str, robot_description="robot_description"):
-        super().__init__(robot_name + "_moveit_config")
+    def __init__(
+        self,
+        robot_name: str,
+        robot_description="robot_description",
+        package_name: Optional[str] = None,
+    ):
+        super().__init__(package_name or (robot_name + "_moveit_config"))
         self.__moveit_configs.package_path = self._package_path
         self.__robot_name = robot_name
         setup_assistant_file = self._package_path / ".setup_assistant"