diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
index 22779fe..cca2ca6 100644
--- a/.ci_support/linux_64_.yaml
+++ b/.ci_support/linux_64_.yaml
@@ -30,7 +30,7 @@ python:
 target_platform:
 - linux-64
 tinyxml2:
-- '9'
+- '10'
 urdfdom:
 - '4.0'
 zip_keys:
diff --git a/.ci_support/linux_aarch64_.yaml b/.ci_support/linux_aarch64_.yaml
index af41f29..3e05e96 100644
--- a/.ci_support/linux_aarch64_.yaml
+++ b/.ci_support/linux_aarch64_.yaml
@@ -34,7 +34,7 @@ python:
 target_platform:
 - linux-aarch64
 tinyxml2:
-- '9'
+- '10'
 urdfdom:
 - '4.0'
 zip_keys:
diff --git a/.ci_support/linux_ppc64le_.yaml b/.ci_support/linux_ppc64le_.yaml
index 4fa8ff0..1a5f08b 100644
--- a/.ci_support/linux_ppc64le_.yaml
+++ b/.ci_support/linux_ppc64le_.yaml
@@ -30,7 +30,7 @@ python:
 target_platform:
 - linux-ppc64le
 tinyxml2:
-- '9'
+- '10'
 urdfdom:
 - '4.0'
 zip_keys:
diff --git a/.ci_support/osx_64_.yaml b/.ci_support/osx_64_.yaml
index f625511..837533d 100644
--- a/.ci_support/osx_64_.yaml
+++ b/.ci_support/osx_64_.yaml
@@ -30,7 +30,7 @@ python:
 target_platform:
 - osx-64
 tinyxml2:
-- '9'
+- '10'
 urdfdom:
 - '4.0'
 zip_keys:
diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
index faba816..9b68edb 100644
--- a/.ci_support/osx_arm64_.yaml
+++ b/.ci_support/osx_arm64_.yaml
@@ -29,7 +29,7 @@ python:
 target_platform:
 - osx-arm64
 tinyxml2:
-- '9'
+- '10'
 urdfdom:
 - '4.0'
 zip_keys:
diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml
index 9856c3f..05fd89e 100644
--- a/.ci_support/win_64_.yaml
+++ b/.ci_support/win_64_.yaml
@@ -22,6 +22,6 @@ python:
 target_platform:
 - win-64
 tinyxml2:
-- '9'
+- '10'
 urdfdom:
 - '4.0'