diff --git a/robot_model/package.xml b/robot_model/package.xml
index 045b56f..a6b9bd1 100644
--- a/robot_model/package.xml
+++ b/robot_model/package.xml
@@ -21,39 +21,55 @@
   <url type="website">http://ros.org/wiki/robot_model</url>
 
   <build_depend>catkin</build_depend>
+
+  <build_depend>angles</build_depend> 
+  <build_depend>assimp</build_depend>
+  <build_depend>collada-dom</build_depend>
+  <build_depend>collada_parser</build_depend>
+  <build_depend>collada_urdf</build_depend>
   <build_depend>common_msgs</build_depend>
+  <build_depend>convex_decomposition</build_depend>
+  <build_depend>curl</build_depend>
+  <build_depend>geometry</build_depend>
+  <build_depend>graphviz</build_depend>
+  <build_depend>ivcon</build_depend>
+  <build_depend>kdl_parser</build_depend>
   <build_depend>orocos_kdl</build_depend> 
+  <build_depend>resource_retriever</build_depend>
   <build_depend>ros</build_depend>
   <build_depend>ros_comm</build_depend> 
-  <build_depend>angles</build_depend> 
   <build_depend>rosconsole_bridge</build_depend>
-  <build_depend>graphviz</build_depend>
-  <build_depend>geometry</build_depend>
-  <build_depend>curl</build_depend>
-  <build_depend>assimp</build_depend>
+  <build_depend>srdf</build_depend>
+  <build_depend>urdf</build_depend>
   <build_depend>urdf_interface</build_depend>
+  <build_depend>urdf_parser</build_depend>
   <build_depend>urdfdom</build_depend>
   <build_depend>urdfdom_headers</build_depend>
-  <build_depend>collada-dom</build_depend>
-  <build_depend>convex_decomposition</build_depend>
-  <build_depend>ivcon</build_depend>
   
+  <run_depend>angles</run_depend> 
+  <run_depend>assimp</run_depend>
+  <run_depend>collada-dom</run_depend>
+  <run_depend>collada_parser</run_depend>
+  <run_depend>collada_urdf</run_depend>
   <run_depend>common_msgs</run_depend>
+  <run_depend>convex_decomposition</run_depend>
+  <run_depend>curl</run_depend>
+  <run_depend>geometry</run_depend>
+  <run_depend>graphviz</run_depend>
+  <run_depend>ivcon</run_depend>
+  <run_depend>kdl_parser</run_depend>
   <run_depend>orocos_kdl</run_depend> 
+  <run_depend>resource_retriever</run_depend>
   <run_depend>ros</run_depend>
   <run_depend>ros_comm</run_depend> 
-  <run_depend>angles</run_depend> 
   <run_depend>rosconsole_bridge</run_depend>
-  <run_depend>graphviz</run_depend>
-  <run_depend>geometry</run_depend>
-  <run_depend>curl</run_depend>
-  <run_depend>assimp</run_depend>
+  <run_depend>srdf</run_depend>
+  <run_depend>urdf</run_depend>
   <run_depend>urdf_interface</run_depend>
+  <run_depend>urdf_parser</run_depend>
   <run_depend>urdfdom</run_depend>
   <run_depend>urdfdom_headers</run_depend>
-  <run_depend>collada-dom</run_depend>
-  <run_depend>convex_decomposition</run_depend>
-  <run_depend>ivcon</run_depend>
+
 
   <export>
     <metapackage/>