diff --git a/README.md b/README.md
index 9fb3eaaa..d88d7365 100644
--- a/README.md
+++ b/README.md
@@ -141,7 +141,7 @@ cd robot-control-stack
 # setup environment
 conda create -n rcs python=3.11
 conda activate rcs
-conda install conda-forge::glfw
+conda install -c conda-forge urdfdom urdfdom_headers glfw
 
 # or sudo apt install $(cat debian_deps.txt)
 pip install 'pip>=25.1'
diff --git a/debian_deps.txt b/debian_deps.txt
index 9cfdb350..3a19dacc 100644
--- a/debian_deps.txt
+++ b/debian_deps.txt
@@ -1,3 +1,4 @@
 build-essential
 gcc
-libglfw3-dev
\ No newline at end of file
+libglfw3-dev
+liburdfdom-dev
\ No newline at end of file