diff --git a/package.xml b/package.xml
index d2a24a2a33f682e278085beb540a444e6798ca48..dc77fde4db74d14860f5a42b74ba672ddd42cc0e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>example-robot-data</name>
   <version>3.2.0</version>
   <description>Set of robot URDFs for benchmarking and developed examples.</description>
@@ -7,16 +7,17 @@
   Please check the repository URL for project maintainer. -->
   <author email="carlos.mastalli@ed.ac.uk">Carlos Mastalli</author>
   <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
-  <maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
 
-  <url type="repository">https://gepgitlab.laas.fr/gepetto/example-robot-data.git</url>
+  <url type="repository">https://github.com/gepetto/example-robot-data</url>
 
   <build_depend>git</build_depend>
-  <depend>python</depend>
-  <depend>python-numpy</depend>
-  <depend>boost</depend>
-  <depend>pinocchio</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <exec_depend>pinocchio</exec_depend>
 
   <buildtool_depend>cmake</buildtool_depend>
   <export>
diff --git a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
index 2031152048a68c84e738b33e2315db79cea9fca6..6e019390c5705186ec38bec16bf2e1c856f6f321 100644
--- a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
@@ -43,7 +43,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/base/anymal_base.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -127,7 +127,7 @@
     <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -167,7 +167,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -214,7 +214,7 @@
     <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -252,7 +252,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -310,7 +310,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -350,7 +350,7 @@
     <visual>
       <origin rpy="3.1416 3.1416 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -397,7 +397,7 @@
     <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -435,7 +435,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -493,7 +493,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -533,7 +533,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -580,7 +580,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -618,7 +618,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -676,7 +676,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -716,7 +716,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -763,7 +763,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -801,7 +801,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -887,7 +887,7 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -912,7 +912,7 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/jaco_mounting_block.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -931,7 +931,7 @@
   <link name="j2s6s200_link_base">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/base.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -939,7 +939,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/base.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -959,7 +959,7 @@
   <link name="j2s6s200_link_1">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -967,12 +967,12 @@
     </visual>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1002,7 +1002,7 @@
   <link name="j2s6s200_link_2">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/arm.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -1010,12 +1010,12 @@
     </visual>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/arm.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1045,7 +1045,7 @@
   <link name="j2s6s200_link_3">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/forearm.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -1053,12 +1053,12 @@
     </visual>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/forearm.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1088,7 +1088,7 @@
   <link name="j2s6s200_link_4">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -1096,12 +1096,12 @@
     </visual>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1131,7 +1131,7 @@
   <link name="j2s6s200_link_5">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -1139,12 +1139,12 @@
     </visual>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1174,7 +1174,7 @@
   <link name="j2s6s200_link_6">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.3 0.3 0.3 1"/>
@@ -1182,12 +1182,12 @@
     </visual>
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1232,7 +1232,7 @@
   <link name="j2s6s200_link_finger_1">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -1240,7 +1240,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1269,7 +1269,7 @@
   <link name="j2s6s200_link_finger_tip_1">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -1277,7 +1277,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1306,7 +1306,7 @@
   <link name="j2s6s200_link_finger_2">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -1314,7 +1314,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -1343,7 +1343,7 @@
   <link name="j2s6s200_link_finger_tip_2">
     <visual>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
       </geometry>
       <material name="carbon_fiber">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -1351,7 +1351,7 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+        <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
       </geometry>
     </collision>
     <inertial>
diff --git a/robots/anymal_b_simple_description/robots/anymal.urdf b/robots/anymal_b_simple_description/robots/anymal.urdf
index 42124ba06d68fe9fb720cf929184b5df2a8c7a2e..1b2c190ec14011f66ce139e03c5414d610c6be2f 100644
--- a/robots/anymal_b_simple_description/robots/anymal.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal.urdf
@@ -43,7 +43,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/base/anymal_base.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/base/anymal_base.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -127,7 +127,7 @@
     <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -167,7 +167,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -214,7 +214,7 @@
     <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -252,7 +252,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -310,7 +310,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -350,7 +350,7 @@
     <visual>
       <origin rpy="3.1416 3.1416 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -397,7 +397,7 @@
     <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -435,7 +435,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -493,7 +493,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -533,7 +533,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -580,7 +580,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -618,7 +618,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -676,7 +676,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -716,7 +716,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -763,7 +763,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
@@ -801,7 +801,7 @@
     <visual>
       <origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
       <geometry>
-        <mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
       </geometry>
       <material name="anymal_material"/>
     </visual>
diff --git a/robots/double_pendulum_description/urdf/double_pendulum.urdf b/robots/double_pendulum_description/urdf/double_pendulum.urdf
index 85fa8d4cde4f5a38ebf7928aa20a95c59718b3a0..50fe17ac324265855c957fd4109c90f41468f568 100644
--- a/robots/double_pendulum_description/urdf/double_pendulum.urdf
+++ b/robots/double_pendulum_description/urdf/double_pendulum.urdf
@@ -26,7 +26,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://double_pendulum_description/meshes/base_link.stl" />
+          filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
       </geometry>
       <material
         name="">
@@ -40,7 +40,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://double_pendulum_description/meshes/base_link.stl" />
+          filename="package://example-robot-data/robots/double_pendulum_description/meshes/base_link.stl" />
       </geometry>
     </collision>
   </link>
@@ -66,7 +66,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://double_pendulum_description/meshes/link1.stl" />
+          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
       </geometry>
       <material
         name="">
@@ -80,7 +80,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://double_pendulum_description/meshes/link1.stl" />
+          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link1.stl" />
       </geometry>
     </collision>
   </link>
@@ -126,7 +126,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://double_pendulum_description/meshes/link2.stl" />
+          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
       </geometry>
       <material
         name="">
@@ -140,7 +140,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://double_pendulum_description/meshes/link2.stl" />
+          filename="package://example-robot-data/robots/double_pendulum_description/meshes/link2.stl" />
       </geometry>
     </collision>
   </link>
diff --git a/robots/hector_description/robots/quadrotor_base.urdf b/robots/hector_description/robots/quadrotor_base.urdf
index 1d4b3fcd0d0435104bdc7f9e5a63d852a72a76d1..6fe5863a9c5e5a16227106bf95597376e578209c 100644
--- a/robots/hector_description/robots/quadrotor_base.urdf
+++ b/robots/hector_description/robots/quadrotor_base.urdf
@@ -13,13 +13,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.dae"/>
+        <mesh filename="package://example-robot-data/robots/hector_description/meshes/quadrotor/quadrotor_base.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.stl"/>
+        <mesh filename="package://example-robot-data/robots/hector_description/meshes/quadrotor/quadrotor_base.stl"/>
       </geometry>
     </collision>
   </link>
diff --git a/robots/hector_description/robots/quadrotor_base.urdf.xacro b/robots/hector_description/robots/quadrotor_base.urdf.xacro
index d261018f60f7ffd0b7cbb0fb32c755251f23782b..18a3733849487df689f383500fbc7f3b6d220ac7 100644
--- a/robots/hector_description/robots/quadrotor_base.urdf.xacro
+++ b/robots/hector_description/robots/quadrotor_base.urdf.xacro
@@ -16,14 +16,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.dae"/>
+          <mesh filename="package://example-robot-data/robots/hector_description/meshes/quadrotor/quadrotor_base.dae"/>
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.stl"/>
+          <mesh filename="package://example-robot-data/robots/hector_description/meshes/quadrotor/quadrotor_base.stl"/>
         </geometry>
       </collision>
     </link>
diff --git a/robots/hector_description/robots/quadrotor_base.xacro b/robots/hector_description/robots/quadrotor_base.xacro
index 4f15fe2467cb4bd4a2fa4a14fa4e9e1f72caff6e..17fcc6eeb0d5fe6f1790e86eacc5dde651535a9b 100644
--- a/robots/hector_description/robots/quadrotor_base.xacro
+++ b/robots/hector_description/robots/quadrotor_base.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
 <robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="package://hector-description/urdf/quadrotor_base.urdf.xacro"/>
+  <xacro:include filename="package://example-robot-data/robots/hector_description/urdf/quadrotor_base.urdf.xacro"/>
   <xacro:quadrotor_base_macro/>
 </robot>
diff --git a/robots/hyq_description/robots/hyq_no_sensors.urdf b/robots/hyq_description/robots/hyq_no_sensors.urdf
index 9b2b221edf059b63282c26b13b1e13b5b2f378a4..656574ab063819ce2d547cddb4c00c275a8743d4 100644
--- a/robots/hyq_description/robots/hyq_no_sensors.urdf
+++ b/robots/hyq_description/robots/hyq_no_sensors.urdf
@@ -92,12 +92,12 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/trunk/trunk.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/trunk/trunk.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -155,13 +155,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -175,13 +175,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -194,7 +194,7 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
       </geometry>
       <material name="white"/>
     </visual>
@@ -370,13 +370,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -390,13 +390,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -409,7 +409,7 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
       </geometry>
       <material name="white"/>
     </visual>
@@ -585,13 +585,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -605,13 +605,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -624,7 +624,7 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
       </geometry>
       <material name="white"/>
     </visual>
@@ -800,13 +800,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -820,13 +820,13 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     <visual>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -839,7 +839,7 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" scale="1 1 1"/>
       </geometry>
       <material name="white"/>
     </visual>
diff --git a/robots/icub_description/robots/icub.urdf b/robots/icub_description/robots/icub.urdf
index 95c194c2236be2dba77d8cdc3cdffe3eb5d62217..3487940b41b3a690c2ed0d242d6e711c4fe7f1e3 100644
--- a/robots/icub_description/robots/icub.urdf
+++ b/robots/icub_description/robots/icub.urdf
@@ -9,7 +9,7 @@
         <visual>
             <origin xyz="-0.0055 -6.93889e-18 -1.72085e-18" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_chest.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_chest.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -19,7 +19,7 @@
         <collision>
             <origin xyz="-0.0055 -6.93889e-18 -1.72085e-18" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_chest.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_chest.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -46,7 +46,7 @@
         <visual>
             <origin xyz="0.0045 -0.0235 9.42554e-13" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_head.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_head.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -56,7 +56,7 @@
         <collision>
             <origin xyz="0.0045 -0.0235 9.42554e-13" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_head.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_head.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -76,7 +76,7 @@
         <visual>
             <origin xyz="1.11022e-16 -5.54343e-12 4.45647e-12" rpy="1.5708 1.53106e-11 1.53105e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_ankle_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -86,7 +86,7 @@
         <collision>
             <origin xyz="1.11022e-16 -5.54343e-12 4.45647e-12" rpy="1.5708 1.53106e-11 1.53105e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_ankle_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -113,7 +113,7 @@
         <visual>
             <origin xyz="-0.008 -5.54343e-12 -0.0553" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_foot.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -123,7 +123,7 @@
         <collision>
             <origin xyz="-0.008 -5.54343e-12 -0.0553" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_foot.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -143,7 +143,7 @@
         <visual>
             <origin xyz="-0.000143922 -1.25977e-12 0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_forearm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -153,7 +153,7 @@
         <collision>
             <origin xyz="-0.000143922 -1.25977e-12 0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_forearm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -180,7 +180,7 @@
         <visual>
             <origin xyz="-1.25981e-12 0.0204334 -0.000143922" rpy="5.10195e-12 -2.64173e-12 1.49623e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_hand.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -190,7 +190,7 @@
         <collision>
             <origin xyz="-1.25981e-12 0.0204334 -0.000143922" rpy="5.10195e-12 -2.64173e-12 1.49623e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_hand.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -210,7 +210,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_hip_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -220,7 +220,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -233,7 +233,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_hip_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -243,7 +243,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -263,7 +263,7 @@
         <visual>
             <origin xyz="5.55112e-17 2.28232e-12 2.2823e-12" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_shank.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -273,7 +273,7 @@
         <collision>
             <origin xyz="5.55112e-17 2.28232e-12 2.2823e-12" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_shank.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -286,7 +286,7 @@
         <visual>
             <origin xyz="3.08087e-14 0.109285 -0.00521101" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_shoulder_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -296,7 +296,7 @@
         <collision>
             <origin xyz="3.08087e-14 0.109285 -0.00521101" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -309,7 +309,7 @@
         <visual>
             <origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="0 1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_shoulder_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -319,7 +319,7 @@
         <collision>
             <origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -346,7 +346,7 @@
         <visual>
             <origin xyz="-0.0204334 0.000143922 -0.068" rpy="-1.5708 0 -1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_arm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -356,7 +356,7 @@
         <collision>
             <origin xyz="-0.0204334 0.000143922 -0.068" rpy="-1.5708 0 -1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_arm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -376,7 +376,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 1.5708 -3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_thigh.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -386,7 +386,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_thigh.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -406,7 +406,7 @@
         <visual>
             <origin xyz="-1.11022e-16 9.62964e-13 -0.0055" rpy="0 -1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_neck_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_neck_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -416,7 +416,7 @@
         <collision>
             <origin xyz="-1.11022e-16 9.62964e-13 -0.0055" rpy="0 -1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_neck_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_neck_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -429,7 +429,7 @@
         <visual>
             <origin xyz="-9.62967e-13 0.0055 0.0235" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_neck_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_neck_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -439,7 +439,7 @@
         <collision>
             <origin xyz="-9.62967e-13 0.0055 0.0235" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_neck_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_neck_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -452,7 +452,7 @@
         <visual>
             <origin xyz="1.11022e-16 -1.08717e-12 -4.45647e-12" rpy="-1.5708 -1.53106e-11 5.10376e-12" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_ankle_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -462,7 +462,7 @@
         <collision>
             <origin xyz="1.11022e-16 -1.08717e-12 -4.45647e-12" rpy="-1.5708 -1.53106e-11 5.10376e-12" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_ankle_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -489,7 +489,7 @@
         <visual>
             <origin xyz="-0.008 1.08717e-12 -0.0553" rpy="0 1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_foot.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -499,7 +499,7 @@
         <collision>
             <origin xyz="-0.008 1.08717e-12 -0.0553" rpy="0 1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_foot.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -519,7 +519,7 @@
         <visual>
             <origin xyz="0.000143922 -1.07216e-12 -0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_forearm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -529,7 +529,7 @@
         <collision>
             <origin xyz="0.000143922 -1.07216e-12 -0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_forearm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -556,7 +556,7 @@
         <visual>
             <origin xyz="1.07207e-12 0.0204334 0.000143922" rpy="1.53098e-11 2.00665e-11 -3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_hand.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -566,7 +566,7 @@
         <collision>
             <origin xyz="1.07207e-12 0.0204334 0.000143922" rpy="1.53098e-11 2.00665e-11 -3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_hand.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -586,7 +586,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="-1.5708 -1.5708 4.71239" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_hip_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -596,7 +596,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="-1.5708 -1.5708 4.71239" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -609,7 +609,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 -1.5708 1.02066e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_hip_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -619,7 +619,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 -1.5708 1.02066e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -639,7 +639,7 @@
         <visual>
             <origin xyz="5.55112e-17 2.28232e-12 -8.32667e-17" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_shank.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -649,7 +649,7 @@
         <collision>
             <origin xyz="5.55112e-17 2.28232e-12 -8.32667e-17" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_shank.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -662,7 +662,7 @@
         <visual>
             <origin xyz="-3.08642e-14 0.109285 0.00521101" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_shoulder_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -672,7 +672,7 @@
         <collision>
             <origin xyz="-3.08642e-14 0.109285 0.00521101" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -685,7 +685,7 @@
         <visual>
             <origin xyz="-0.00154529 -0.00521101 -1.11186e-12" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_shoulder_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -695,7 +695,7 @@
         <collision>
             <origin xyz="-0.00154529 -0.00521101 -1.11186e-12" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -722,7 +722,7 @@
         <visual>
             <origin xyz="-0.0204334 -0.000143922 -0.068" rpy="1.5708 0 1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_arm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -732,7 +732,7 @@
         <collision>
             <origin xyz="-0.0204334 -0.000143922 -0.068" rpy="1.5708 0 1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_arm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -752,7 +752,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_thigh.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -762,7 +762,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_thigh.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -782,7 +782,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="-1.5708 -0 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_root_link.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_root_link.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -792,7 +792,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="-1.5708 -0 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_root_link.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_root_link.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -812,7 +812,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="3.1416 5.10314e-12 1.11022e-16" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_lap_belt_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_lap_belt_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -822,7 +822,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="3.1416 5.10314e-12 1.11022e-16" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_lap_belt_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_lap_belt_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
diff --git a/robots/icub_description/robots/icub_reduced.urdf b/robots/icub_description/robots/icub_reduced.urdf
index cd0fde91b1e251c07663399b4368e5cc6a43f58d..205d6c04a0f63a6b1c18de10993ea5002aeecb71 100644
--- a/robots/icub_description/robots/icub_reduced.urdf
+++ b/robots/icub_description/robots/icub_reduced.urdf
@@ -9,7 +9,7 @@
         <visual>
             <origin xyz="-0.0055 -6.93889e-18 -1.72085e-18" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_chest.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_chest.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -19,7 +19,7 @@
         <collision>
             <origin xyz="-0.0055 -6.93889e-18 -1.72085e-18" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_chest.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_chest.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -46,7 +46,7 @@
         <visual>
             <origin xyz="0.0045 -0.0235 9.42554e-13" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_head.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_head.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -56,7 +56,7 @@
         <collision>
             <origin xyz="0.0045 -0.0235 9.42554e-13" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_head.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_head.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -76,7 +76,7 @@
         <visual>
             <origin xyz="1.11022e-16 -5.54343e-12 4.45647e-12" rpy="1.5708 1.53106e-11 1.53105e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_ankle_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -86,7 +86,7 @@
         <collision>
             <origin xyz="1.11022e-16 -5.54343e-12 4.45647e-12" rpy="1.5708 1.53106e-11 1.53105e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_ankle_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -113,7 +113,7 @@
         <visual>
             <origin xyz="-0.008 -5.54343e-12 -0.0553" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_foot.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -123,7 +123,7 @@
         <collision>
             <origin xyz="-0.008 -5.54343e-12 -0.0553" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_foot.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -143,7 +143,7 @@
         <visual>
             <origin xyz="-0.000143922 -1.25977e-12 0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_forearm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -153,7 +153,7 @@
         <collision>
             <origin xyz="-0.000143922 -1.25977e-12 0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_forearm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -180,7 +180,7 @@
         <visual>
             <origin xyz="-1.25981e-12 0.0204334 -0.000143922" rpy="5.10195e-12 -2.64173e-12 1.49623e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_hand.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -190,7 +190,7 @@
         <collision>
             <origin xyz="-1.25981e-12 0.0204334 -0.000143922" rpy="5.10195e-12 -2.64173e-12 1.49623e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_hand.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -210,7 +210,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_hip_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -220,7 +220,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -233,7 +233,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_hip_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -243,7 +243,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -263,7 +263,7 @@
         <visual>
             <origin xyz="5.55112e-17 2.28232e-12 2.2823e-12" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_shank.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -273,7 +273,7 @@
         <collision>
             <origin xyz="5.55112e-17 2.28232e-12 2.2823e-12" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_shank.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -286,7 +286,7 @@
         <visual>
             <origin xyz="3.08087e-14 0.109285 -0.00521101" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_shoulder_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -296,7 +296,7 @@
         <collision>
             <origin xyz="3.08087e-14 0.109285 -0.00521101" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -309,7 +309,7 @@
         <visual>
             <origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="0 1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_shoulder_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -319,7 +319,7 @@
         <collision>
             <origin xyz="-0.00154529 -0.00521101 -1.11181e-12" rpy="0 1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -346,7 +346,7 @@
         <visual>
             <origin xyz="-0.0204334 0.000143922 -0.068" rpy="-1.5708 0 -1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_arm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -356,7 +356,7 @@
         <collision>
             <origin xyz="-0.0204334 0.000143922 -0.068" rpy="-1.5708 0 -1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_arm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -376,7 +376,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 1.5708 -3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_l_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_l_thigh.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -386,7 +386,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_l_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_l_thigh.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -406,7 +406,7 @@
         <visual>
             <origin xyz="-1.11022e-16 9.62964e-13 -0.0055" rpy="0 -1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_neck_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_neck_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -416,7 +416,7 @@
         <collision>
             <origin xyz="-1.11022e-16 9.62964e-13 -0.0055" rpy="0 -1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_neck_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_neck_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -429,7 +429,7 @@
         <visual>
             <origin xyz="-9.62967e-13 0.0055 0.0235" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_neck_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_neck_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -439,7 +439,7 @@
         <collision>
             <origin xyz="-9.62967e-13 0.0055 0.0235" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_neck_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_neck_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -452,7 +452,7 @@
         <visual>
             <origin xyz="1.11022e-16 -1.08717e-12 -4.45647e-12" rpy="-1.5708 -1.53106e-11 5.10376e-12" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_ankle_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -462,7 +462,7 @@
         <collision>
             <origin xyz="1.11022e-16 -1.08717e-12 -4.45647e-12" rpy="-1.5708 -1.53106e-11 5.10376e-12" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_ankle_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_ankle_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -489,7 +489,7 @@
         <visual>
             <origin xyz="-0.008 1.08717e-12 -0.0553" rpy="0 1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_foot.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -499,7 +499,7 @@
         <collision>
             <origin xyz="-0.008 1.08717e-12 -0.0553" rpy="0 1.5708 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_foot.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_foot.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -519,7 +519,7 @@
         <visual>
             <origin xyz="0.000143922 -1.07216e-12 -0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_forearm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -529,7 +529,7 @@
         <collision>
             <origin xyz="0.000143922 -1.07216e-12 -0.0204334" rpy="0 1.5708 3.1416" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_forearm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_forearm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -556,7 +556,7 @@
         <visual>
             <origin xyz="1.07207e-12 0.0204334 0.000143922" rpy="1.53098e-11 2.00665e-11 -3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_hand.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -566,7 +566,7 @@
         <collision>
             <origin xyz="1.07207e-12 0.0204334 0.000143922" rpy="1.53098e-11 2.00665e-11 -3.14159" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_hand.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_hand.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -586,7 +586,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="-1.5708 -1.5708 4.71239" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_hip_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -596,7 +596,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="-1.5708 -1.5708 4.71239" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -609,7 +609,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 -1.5708 1.02066e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_hip_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -619,7 +619,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 -1.5708 1.02066e-11" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_hip_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -639,7 +639,7 @@
         <visual>
             <origin xyz="5.55112e-17 2.28232e-12 -8.32667e-17" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_shank.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -649,7 +649,7 @@
         <collision>
             <origin xyz="5.55112e-17 2.28232e-12 -8.32667e-17" rpy="-1.5708 3.1416 -1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_shank.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_shank.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -662,7 +662,7 @@
         <visual>
             <origin xyz="-3.08642e-14 0.109285 0.00521101" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_shoulder_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -672,7 +672,7 @@
         <collision>
             <origin xyz="-3.08642e-14 0.109285 0.00521101" rpy="0 1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -685,7 +685,7 @@
         <visual>
             <origin xyz="-0.00154529 -0.00521101 -1.11186e-12" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_shoulder_2.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -695,7 +695,7 @@
         <collision>
             <origin xyz="-0.00154529 -0.00521101 -1.11186e-12" rpy="0 -1.5708 1.5708" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_2.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_shoulder_2.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -722,7 +722,7 @@
         <visual>
             <origin xyz="-0.0204334 -0.000143922 -0.068" rpy="1.5708 0 1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_arm.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -732,7 +732,7 @@
         <collision>
             <origin xyz="-0.0204334 -0.000143922 -0.068" rpy="1.5708 0 1.309" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_arm.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_arm.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -752,7 +752,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_r_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_r_thigh.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -762,7 +762,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 -1.5708 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_r_thigh.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_r_thigh.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -782,7 +782,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="-1.5708 -0 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_root_link.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_root_link.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -792,7 +792,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="-1.5708 -0 0" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_root_link.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_root_link.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
@@ -812,7 +812,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="3.1416 5.10314e-12 1.11022e-16" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/visual/icub_lap_belt_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/visual/icub_lap_belt_1.dae" scale="1 1 1" />
             </geometry>
             <material name="material.metal">
                 <texture />
@@ -822,7 +822,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="3.1416 5.10314e-12 1.11022e-16" />
             <geometry>
-                <mesh filename="package://icub_description/meshes/upmc/collision/icub_simple_collision_lap_belt_1.dae" scale="1 1 1" />
+                <mesh filename="package://example-robot-data/robots/icub_description/meshes/upmc/collision/icub_simple_collision_lap_belt_1.dae" scale="1 1 1" />
             </geometry>
         </collision>
     </link>
diff --git a/robots/iris_description/robots/iris.urdf b/robots/iris_description/robots/iris.urdf
index 7e932768d4eda3feeb0bbc05c84417757a3623b2..626fd81f3c38bcdbe1e48dcf855d97c780570be3 100644
--- a/robots/iris_description/robots/iris.urdf
+++ b/robots/iris_description/robots/iris.urdf
@@ -50,7 +50,7 @@
     <visual name="iris__base_link_inertia_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris.stl" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -76,7 +76,7 @@
     <visual name="iris__rotor_0_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -95,7 +95,7 @@
     <visual name="iris__rotor_1_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -114,7 +114,7 @@
     <visual name="iris__rotor_2_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -133,7 +133,7 @@
     <visual name="iris__rotor_3_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
diff --git a/robots/iris_description/robots/iris_simple.urdf b/robots/iris_description/robots/iris_simple.urdf
index 7e9ccd653de53b108c0dd8b63063649229b35ef3..ab5b2f1d35de7cd21d588ae369d0a336461264e4 100644
--- a/robots/iris_description/robots/iris_simple.urdf
+++ b/robots/iris_description/robots/iris_simple.urdf
@@ -50,7 +50,7 @@
     <visual name="iris__base_link_inertia_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris.stl" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -76,7 +76,7 @@
     <visual name="iris__rotor_0_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -95,7 +95,7 @@
     <visual name="iris__rotor_1_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -114,7 +114,7 @@
     <visual name="iris__rotor_2_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
@@ -133,7 +133,7 @@
     <visual name="iris__rotor_3_visual">
       <origin rpy="0  0  0" xyz="0  0  0"/>
       <geometry>
-        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
   </link>
diff --git a/robots/kinova_description/robots/kinova.urdf b/robots/kinova_description/robots/kinova.urdf
index b148e4be80928d27156d227be170d789992d0523..5611306cdb15dbc84b2cb3bc81c2669a21c74029 100644
--- a/robots/kinova_description/robots/kinova.urdf
+++ b/robots/kinova_description/robots/kinova.urdf
@@ -45,7 +45,7 @@
     <link name="jaco_front_hatch_support_v2">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
             </geometry>
         </visual>
     </link>
@@ -58,7 +58,7 @@
     <link name="jaco_mounting_block">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/jaco_mounting_block.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
             </geometry>
         </visual>
     </link>
@@ -71,7 +71,7 @@
     <link name="j2s6s200_link_base">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/base.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -79,7 +79,7 @@
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/base.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -99,7 +99,7 @@
     <link name="j2s6s200_link_1">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -107,12 +107,12 @@
         </visual>
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
             </geometry>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -142,7 +142,7 @@
     <link name="j2s6s200_link_2">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/arm.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -150,12 +150,12 @@
         </visual>
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
             </geometry>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/arm.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -185,7 +185,7 @@
     <link name="j2s6s200_link_3">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/forearm.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -193,12 +193,12 @@
         </visual>
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
             </geometry>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/forearm.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -228,7 +228,7 @@
     <link name="j2s6s200_link_4">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -236,12 +236,12 @@
         </visual>
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
             </geometry>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -271,7 +271,7 @@
     <link name="j2s6s200_link_5">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -279,12 +279,12 @@
         </visual>
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
             </geometry>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -314,7 +314,7 @@
     <link name="j2s6s200_link_6">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.3 0.3 0.3 1"/>
@@ -322,12 +322,12 @@
         </visual>
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
             </geometry>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -366,7 +366,7 @@
     <link name="j2s6s200_link_finger_1">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -374,7 +374,7 @@
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -403,7 +403,7 @@
     <link name="j2s6s200_link_finger_tip_1">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -411,7 +411,7 @@
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -440,7 +440,7 @@
     <link name="j2s6s200_link_finger_2">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -448,7 +448,7 @@
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_proximal.dae"/>
             </geometry>
         </collision>
         <inertial>
@@ -477,7 +477,7 @@
     <link name="j2s6s200_link_finger_tip_2">
         <visual>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
             </geometry>
             <material name="carbon_fiber">
                 <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -485,7 +485,7 @@
         </visual>
         <collision>
             <geometry>
-                <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/finger_distal.dae"/>
             </geometry>
         </collision>
         <inertial>
diff --git a/robots/romeo_description/urdf/romeo.urdf b/robots/romeo_description/urdf/romeo.urdf
index c85b4bfd51a7d6555acc9ac764210593d1d22c21..bab144e94f1065c76240b8cea2bdafdffc36ab67 100644
--- a/robots/romeo_description/urdf/romeo.urdf
+++ b/robots/romeo_description/urdf/romeo.urdf
@@ -35,12 +35,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/NeckPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/NeckPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/NeckPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/NeckPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -73,12 +73,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/HeadRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/HeadRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/HeadRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/HeadRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -131,12 +131,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -155,12 +155,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -193,12 +193,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -251,12 +251,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -275,12 +275,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -313,12 +313,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -342,12 +342,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Torso.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Torso.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Torso.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Torso.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -366,12 +366,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/TrunkYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/TrunkYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/TrunkYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/TrunkYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -404,12 +404,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -442,12 +442,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -466,12 +466,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -490,12 +490,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -514,12 +514,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -552,12 +552,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -590,12 +590,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -614,12 +614,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -638,12 +638,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -662,12 +662,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -812,13 +812,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -831,13 +831,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -850,13 +850,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -869,13 +869,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -888,13 +888,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -907,13 +907,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -926,13 +926,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -945,13 +945,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -964,13 +964,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -983,13 +983,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LThumb.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LThumb.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LThumb.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LThumb.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1002,13 +1002,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1021,13 +1021,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1040,13 +1040,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1059,13 +1059,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1078,13 +1078,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1097,13 +1097,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1116,13 +1116,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1135,13 +1135,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1154,13 +1154,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1173,13 +1173,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1192,13 +1192,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1211,13 +1211,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RThumb.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RThumb.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RThumb.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RThumb.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1230,13 +1230,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Phalax.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Phalax.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Phalax.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1249,13 +1249,13 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/PhalaxEnd.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/PhalaxEnd.dae"/>
       </geometry>
     </collision>
   </link>
diff --git a/robots/romeo_description/urdf/romeo_small.urdf b/robots/romeo_description/urdf/romeo_small.urdf
index b907ba184ecf1f5e140af01f6e282afaf74055f1..2a11257542497b9972c58576a04b8ccda5bbeb90 100644
--- a/robots/romeo_description/urdf/romeo_small.urdf
+++ b/robots/romeo_description/urdf/romeo_small.urdf
@@ -35,12 +35,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/NeckPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/NeckPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/NeckPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/NeckPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -73,12 +73,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/HeadRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/HeadRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/HeadRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/HeadRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -131,12 +131,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -155,12 +155,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -193,12 +193,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -251,12 +251,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RHipPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RHipPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -275,12 +275,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RKneePitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RKneePitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -313,12 +313,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RAnkleRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RAnkleRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -342,12 +342,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/Torso.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/Torso.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/Torso.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/Torso.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -366,12 +366,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/TrunkYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/TrunkYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/TrunkYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/TrunkYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -404,12 +404,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -442,12 +442,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -466,12 +466,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -490,12 +490,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -514,12 +514,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/LWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/LWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/LWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/LWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -552,12 +552,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RShoulderYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RShoulderYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -590,12 +590,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RElbowYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RElbowYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -614,12 +614,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RWristRoll.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RWristRoll.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -638,12 +638,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RWristYaw.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RWristYaw.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -662,12 +662,12 @@
     </inertial>
     <visual>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/visual/RWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/visual/RWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://romeo_description/meshes/V1/collision/RWristPitch.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/romeo_description/meshes/V1/collision/RWristPitch.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
diff --git a/robots/talos_data/robots/talos_left_arm.urdf b/robots/talos_data/robots/talos_left_arm.urdf
index 3184fc2c0a1e48221d054d8d9aa9cac78b02f9a6..74db83970cb04088af0e653f451c35d3da38f938 100644
--- a/robots/talos_data/robots/talos_left_arm.urdf
+++ b/robots/talos_data/robots/talos_left_arm.urdf
@@ -26,14 +26,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -47,14 +47,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -80,14 +80,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -116,14 +116,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -187,14 +187,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -220,14 +220,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -261,14 +261,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -462,14 +462,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -490,14 +490,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -518,14 +518,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -546,14 +546,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -574,14 +574,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -602,14 +602,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -630,14 +630,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -658,14 +658,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
diff --git a/robots/talos_data/robots/talos_reduced.urdf b/robots/talos_data/robots/talos_reduced.urdf
index 56bbdfe1b0d9ac9d7a9568b7e67925acd345918e..5b513c73a903798245032fc23f15ac15197024cb 100644
--- a/robots/talos_data/robots/talos_reduced.urdf
+++ b/robots/talos_data/robots/talos_reduced.urdf
@@ -43,14 +43,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -66,14 +66,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -101,14 +101,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -238,14 +238,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -290,7 +290,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
 	  <geometry>
-          <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
+          <mesh filename="package://example-robot-data/robots/talos_data/meshes/sensors/orbbec/orbbec.STL"/>
       </geometry>
       <material name="DarkGrey">
         <color rgba="0.5 0.5 0.5 1"/>
@@ -453,14 +453,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -486,14 +486,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -519,14 +519,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -555,14 +555,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -626,14 +626,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -659,14 +659,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -700,14 +700,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -837,14 +837,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -870,14 +870,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -903,14 +903,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -939,14 +939,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1010,14 +1010,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1043,14 +1043,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1084,14 +1084,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1324,14 +1324,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1352,14 +1352,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1380,14 +1380,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1408,14 +1408,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1436,14 +1436,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1464,14 +1464,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1492,14 +1492,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1520,14 +1520,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1679,14 +1679,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1707,14 +1707,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1735,14 +1735,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1763,14 +1763,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1791,14 +1791,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1819,14 +1819,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1847,14 +1847,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1875,14 +1875,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2035,14 +2035,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2064,14 +2064,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2093,14 +2093,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2122,14 +2122,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2151,14 +2151,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2180,7 +2180,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2188,7 +2188,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
@@ -2361,14 +2361,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2390,14 +2390,14 @@
     <visual>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0  0  0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2419,14 +2419,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2448,14 +2448,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2477,14 +2477,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
       </geometry>
     </collision>
   </link>
@@ -2506,7 +2506,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+        <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -2514,7 +2514,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+          <mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
       </collision> 
       
diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index fdf805531c77864de43db1a4b5d7c3faa61044a4..9bd1074dcca29de46deafd5386f9cc31c98e2787 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -113,14 +113,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base.stl"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_collision.stl"/>
       </geometry>
       <material name="White"/>
     </collision>
@@ -144,7 +144,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_ring.stl"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -166,7 +166,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
       </geometry>
       <material name="Black"/>
     </visual>
@@ -195,7 +195,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
       </geometry>
       <material name="Black"/>
     </visual>
@@ -265,7 +265,7 @@
     <visual>
       <origin rpy="-0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -315,7 +315,7 @@
     <visual>
       <origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -365,7 +365,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -379,7 +379,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -435,7 +435,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -449,7 +449,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -505,7 +505,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -519,7 +519,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -575,7 +575,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -589,7 +589,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -646,7 +646,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
@@ -710,28 +710,28 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </collision>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </collision>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </collision>
@@ -765,14 +765,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </collision>
@@ -813,14 +813,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -860,7 +860,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+          <mesh filename="package://example-robot-data/robots/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
         </geometry>
         <material name="Grey">
           <color rgba="0.5 0.5 0.5 1"/>
@@ -985,14 +985,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1015,7 +1015,7 @@
       <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -1023,7 +1023,7 @@
       <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1045,14 +1045,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1077,14 +1077,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1141,14 +1141,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1170,14 +1170,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1370,14 +1370,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm.stl" scale="1 1 1"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/palm_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1522,14 +1522,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/thumb_abd_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1587,14 +1587,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -1652,14 +1652,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -1684,14 +1684,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1749,14 +1749,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -1814,14 +1814,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -1879,14 +1879,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -1911,14 +1911,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1976,14 +1976,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2041,14 +2041,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2106,14 +2106,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2138,14 +2138,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2203,14 +2203,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2268,14 +2268,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2333,14 +2333,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2365,14 +2365,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_abd_collision.stl" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -2430,14 +2430,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2495,14 +2495,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_collision.stl"/>
       </geometry>
     </collision>
   </link>
@@ -2560,14 +2560,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
       <material name="Hey5DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/hey5/finger_flex_tip_collision.stl"/>
       </geometry>
     </collision>
   </link>
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index acaa8d6015dc071ef9ff43c5b369b706a61dc9a9..8b19561c0feda74c7a33fb86edaa6de21824f1b0 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -113,14 +113,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/base/base.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base.stl"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/base/base_collision.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_collision.stl"/>
       </geometry>
       <material name="White"/>
     </collision>
@@ -144,7 +144,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/base/base_ring.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/base/base_ring.stl"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -166,7 +166,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
       </geometry>
       <material name="Black"/>
     </visual>
@@ -195,7 +195,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/objects/antenna.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/objects/antenna.stl"/>
       </geometry>
       <material name="Black"/>
     </visual>
@@ -265,7 +265,7 @@
     <visual>
       <origin rpy="-0.0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -315,7 +315,7 @@
     <visual>
       <origin rpy="-3.14159265359 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/wheel.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/wheel.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -365,7 +365,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -379,7 +379,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -435,7 +435,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -449,7 +449,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -505,7 +505,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -519,7 +519,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -575,7 +575,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_1.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -589,7 +589,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/pmb2/wheels/caster_2.stl"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -646,7 +646,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_fix.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
@@ -710,28 +710,28 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_with_arm.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_core.dae" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </collision>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </collision>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/torso/torso_lift_collision_neck.dae" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </collision>
@@ -765,14 +765,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0.0" xyz="0.0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_1_collision.dae" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </collision>
@@ -813,14 +813,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/head/head_2_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -860,7 +860,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
+          <mesh filename="package://example-robot-data/robots/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae" />
         </geometry>
         <material name="Grey">
           <color rgba="0.5 0.5 0.5 1"/>
@@ -985,14 +985,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1.stl" scale="1 1 1"/>
       </geometry>
       <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_1_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1015,7 +1015,7 @@
       <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
@@ -1023,7 +1023,7 @@
       <!-- <origin xyz="0 0 0" rpy="${180 * deg_to_rad} ${0 * deg_to_rad} ${-90 * deg_to_rad}" /> -->
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_2_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1045,14 +1045,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_3_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1077,14 +1077,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4.stl" scale="1 1 1"/>
       </geometry>
       <material name="DarkGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_4_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1141,14 +1141,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_5_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>
@@ -1170,14 +1170,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6.stl" scale="1 1 1"/>
       </geometry>
       <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
+        <mesh filename="package://example-robot-data/robots/tiago_description/meshes/arm/arm_6_collision.dae" scale="1 1 1"/>
       </geometry>
     </collision>
   </link>