diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index 7b465c05ce90..9432722647ca 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -6,6 +6,7 @@
 , eigen
 , example-robot-data
 , collisionSupport ? !stdenv.isDarwin
+, console-bridge
 , jrl-cmakemodules
 , hpp-fcl
 , urdfdom
@@ -44,6 +45,7 @@ stdenv.mkDerivation (finalAttrs: {
   ];
 
   propagatedBuildInputs = [
+    console-bridge
     jrl-cmakemodules
     urdfdom
   ] ++ lib.optionals (!pythonSupport) [
diff --git a/pkgs/development/libraries/urdfdom-headers/default.nix b/pkgs/development/libraries/urdfdom-headers/default.nix
index 138597ad89a6..7809355cb301 100644
--- a/pkgs/development/libraries/urdfdom-headers/default.nix
+++ b/pkgs/development/libraries/urdfdom-headers/default.nix
@@ -2,20 +2,20 @@
 
 stdenv.mkDerivation rec {
   pname = "urdfdom-headers";
-  version = "1.1.0";
+  version = "1.1.1";
 
   src = fetchFromGitHub {
     owner = "ros";
     repo = "urdfdom_headers";
     rev = version;
-    hash = "sha256-ry5wDMRxR7TtupUghe9t1XP0XMvWKiOesO5RFHPrSdI=";
+    hash = "sha256-FQSnYuTc40MOxyFsMPfoCIonP+4AUQxdq74eoQ9tOoo=";
   };
 
   patches = [
     # Fix CMake relative install dir assumptions (https://github.com/ros/urdfdom_headers/pull/66)
     (fetchpatch {
-      url = "https://github.com/ros/urdfdom_headers/commit/c9c993147bbf18d5ec83bae684c5780281e529b4.patch";
-      hash = "sha256-BnYPdcetYSim2O1R38N0d1tY0Id++AgKNic8+dlM6Vg=";
+      url = "https://github.com/ros/urdfdom_headers/commit/6e0cea148c3a7123f8367cd48d5709a4490c32f1.patch";
+      hash = "sha256-LC2TACGma/k6+WE9fTkzY98SgJYKsVuj5O9v84Q5mQ4=";
     })
   ];
 
diff --git a/pkgs/development/libraries/urdfdom/default.nix b/pkgs/development/libraries/urdfdom/default.nix
index 6e59914044fc..f26162ac8c83 100644
--- a/pkgs/development/libraries/urdfdom/default.nix
+++ b/pkgs/development/libraries/urdfdom/default.nix
@@ -1,27 +1,28 @@
 { lib, stdenv, fetchFromGitHub, fetchpatch, cmake, pkg-config, validatePkgConfig
-, urdfdom-headers, console-bridge, tinyxml }:
+, tinyxml-2, console-bridge, urdfdom-headers }:
 
 stdenv.mkDerivation rec {
   pname = "urdfdom";
-  version = "3.1.1";
+  version = "4.0.0";
 
   src = fetchFromGitHub {
     owner = "ros";
     repo = pname;
     rev = version;
-    hash = "sha256-UdkGJAXK3Q8QJaqMZBA5/FKUgWq9EVeqkqwVewTlTD8=";
+    hash = "sha256-t1ff5aRHE7LuQdCXuooWPDUgPWjyYyQmQUB1RJmte1w=";
   };
 
   patches = [
     # Fix CMake relative install dir assumptions (https://github.com/ros/urdfdom/pull/142)
     (fetchpatch {
-      url = "https://github.com/ros/urdfdom/commit/cbe6884d267779463bb444be851f6404e692cc0a.patch";
-      hash = "sha256-1gTRKIGqiSRion76bGecSfFJSBskYUJguUIa6ePIiX4=";
+      url = "https://github.com/ros/urdfdom/commit/61a7e35cd5abece97259e76aed8504052b2f5b53.patch";
+      hash = "sha256-b3bEbbaSUDkwTEHJ8gVPEb+AR/zuWwLqiAW5g1T1dPU=";
     })
   ];
 
   nativeBuildInputs = [ cmake pkg-config validatePkgConfig ];
-  propagatedBuildInputs = [ urdfdom-headers console-bridge tinyxml ];
+  buildInputs = [ tinyxml-2 console-bridge ];
+  propagatedBuildInputs = [ urdfdom-headers ];
 
   meta = with lib; {
     description = "Provides core data structures and a simple XML parser for populating the class data structures from an URDF file";