diff --git a/.github/workflows/gpu_benchmark.yml b/.github/workflows/gpu_benchmark.yml
index 7fc1dd23f..84675dae3 100644
--- a/.github/workflows/gpu_benchmark.yml
+++ b/.github/workflows/gpu_benchmark.yml
@@ -25,6 +25,14 @@ jobs:
         run: |
           pip install .[all]
 
+      - name: Install Gazebo SDF
+        run: |
+            apt update && apt install -y lsb-release wget
+            sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+            wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+            apt-get update
+            apt install -y libsdformat14-dev libsdformat14
+
       - name: Performance regression check
         uses: actions/checkout@v4