diff --git a/.github/workflows/gpu_benchmark.yml b/.github/workflows/gpu_benchmark.yml
index 7fc1dd23f..73bb741ea 100644
--- a/.github/workflows/gpu_benchmark.yml
+++ b/.github/workflows/gpu_benchmark.yml
@@ -25,6 +25,15 @@ jobs:
         run: |
           pip install .[all]
 
+      - name: Install Gazebo SDF
+        run: |
+          apt update
+          apt install -y lsb-release gnupg
+          curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+          apt update
+          apt install -y gz-ionic sdf
+
       - name: Performance regression check
         uses: actions/checkout@v4