diff --git a/vinca.yaml b/vinca.yaml
index 19fcffaf..3526c924 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -170,6 +170,8 @@ packages_select_by_deps:
   # - web-video-server
   - persist-parameter-server
 
+  - urdf_tutorial
+
   # These packages are only built on Linux as they depend on Linux-specific API
   - if: linux
     then: