diff --git a/sdformat-6.3.1-urdfinclude.patch b/sdformat-6.3.1-urdfinclude.patch
index ff97109..6bf1d3b 100644
--- a/sdformat-6.3.1-urdfinclude.patch
+++ b/sdformat-6.3.1-urdfinclude.patch
@@ -1,6 +1,29 @@
+diff -up ./cmake/SearchForStuff.cmake.urdfinclude ./cmake/SearchForStuff.cmake
+--- ./cmake/SearchForStuff.cmake.urdfinclude	2024-04-03 20:37:35.647673471 -0400
++++ ./cmake/SearchForStuff.cmake	2024-04-03 20:38:34.641829877 -0400
+@@ -71,8 +71,9 @@ endif()
+ if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
+   # check for urdfdom with pkg-config
+   pkg_check_modules(URDF urdfdom>=1.0)
++  pkg_check_modules(URDF_HEADERS urdfdom_headers)
+ 
+-  if (NOT URDF_FOUND)
++  if (NOT URDF_FOUND AND NOT URDF_HEADERS_FOUND)
+     if (NOT DEFINED USE_INTERNAL_URDF)
+       message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy")
+       set(USE_INTERNAL_URDF true)
+@@ -81,7 +82,7 @@ if (NOT DEFINED USE_INTERNAL_URDF OR NOT
+     endif()
+   else()
+     # what am I doing here? pkg-config and cmake
+-    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
++    set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR} ${URDF_HEADERS_INCLUDEDIR})
+     set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
+   endif()
+ endif()
 diff -up ./src/CMakeLists.txt.urdfinclude ./src/CMakeLists.txt
---- ./src/CMakeLists.txt.urdfinclude	2024-04-03 20:18:52.326503615 -0400
-+++ ./src/CMakeLists.txt	2024-04-03 20:19:21.976645881 -0400
+--- ./src/CMakeLists.txt.urdfinclude	2021-07-07 08:26:39.000000000 -0400
++++ ./src/CMakeLists.txt	2024-04-03 20:20:49.210058840 -0400
 @@ -12,6 +12,7 @@ link_directories(
  
  if (NOT USE_INTERNAL_URDF)