diff --git a/pyproject.toml b/pyproject.toml
index 8fa852219..e5eeb8a0f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -22,6 +22,7 @@ casadi = "^3.6.0"
 pybullet = "^3.2.0"
 numpy = "^1.22.1"
 cvxpy = "^1.1.18"
+pycddlib = "^2.1.7"
 pytope = "^0.0.4"
 Mosek = "^10.0.18"
 termcolor = "^1.1.0"
diff --git a/setup.py b/setup.py
index 8ca23c269..1ab2354f4 100644
--- a/setup.py
+++ b/setup.py
@@ -18,6 +18,7 @@
           'pybullet',
           'numpy',
           'cvxpy',
+          'pycddlib',
           'pytope',
           'Mosek',
           'termcolor',