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>