diff --git a/rmf_site_format/Cargo.toml b/rmf_site_format/Cargo.toml
index 0de63d22..9f1dc908 100644
--- a/rmf_site_format/Cargo.toml
+++ b/rmf_site_format/Cargo.toml
@@ -16,14 +16,17 @@ thiserror = "*"
 glam = { version = "0.24", features = ["serde"] }
 uuid = { version = "1.1", features = ["v4", "serde"] }
 # add features=["bevy"] to a dependent Cargo.toml to get the bevy-related features
-# We depend on a bugfix released specifically in 0.7.3
 bevy = { version = "0.12", optional = true }
 sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "9fc35f2"}
 yaserde = "0.7"
-urdf-rs = "0.7.3"
+# We depend on a bugfix released specifically in 0.7.3
+urdf-rs = { version = "0.7.3", optional = true }
 # Used for lazy initialization of static variable when they are non const
 once_cell = "1"
 pathdiff = "*"
 
 [dev-dependencies]
 float_eq = "1.0"
+
+[features]
+urdf = ["dep:urdf-rs"]
diff --git a/rmf_site_format/src/misc.rs b/rmf_site_format/src/misc.rs
index 53de412f..cc6bfa1e 100644
--- a/rmf_site_format/src/misc.rs
+++ b/rmf_site_format/src/misc.rs
@@ -18,7 +18,7 @@
 use crate::RefTrait;
 #[cfg(feature = "bevy")]
 use bevy::prelude::*;
-use glam::{EulerRot, Quat, Vec2, Vec3};
+use glam::{Quat, Vec2, Vec3};
 use serde::{Deserialize, Serialize};
 use std::collections::HashMap;
 
@@ -353,6 +353,7 @@ impl Default for Pose {
     }
 }
 
+#[cfg(feature = "urdf")]
 impl From<Pose> for urdf_rs::Pose {
     fn from(pose: Pose) -> Self {
         urdf_rs::Pose {
@@ -360,7 +361,7 @@ impl From<Pose> for urdf_rs::Pose {
                 Rotation::EulerExtrinsicXYZ(arr) => urdf_rs::Vec3(arr.map(|v| v.radians().into())),
                 Rotation::Yaw(v) => urdf_rs::Vec3([0.0, 0.0, v.radians().into()]),
                 Rotation::Quat([x, y, z, w]) => {
-                    let (z, y, x) = glam::quat(x, y, z, w).to_euler(EulerRot::ZYX);
+                    let (z, y, x) = glam::quat(x, y, z, w).to_euler(glam::EulerRot::ZYX);
                     urdf_rs::Vec3([x as f64, y as f64, z as f64])
                 }
             },
@@ -369,6 +370,7 @@ impl From<Pose> for urdf_rs::Pose {
     }
 }
 
+#[cfg(feature = "urdf")]
 impl From<&urdf_rs::Pose> for Pose {
     fn from(pose: &urdf_rs::Pose) -> Self {
         Pose {