diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
index b97cc39..1b10fc4 100644
--- a/.github/workflows/conda-ci.yml
+++ b/.github/workflows/conda-ci.yml
@@ -38,7 +38,7 @@ jobs:
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
         mamba install ycm-cmake-modules matio-cpp boost-cpp eigen
-        if ${{matrix.yarp}}; then mamba install yarp; fi
+        if ${{matrix.yarp}}; then mamba install yarp icub-main; fi
 
     - name: Configure [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')