diff --git a/examples/differential_ik_whole_body.py b/examples/differential_ik_whole_body.py
index 218d3f5..66b235f 100644
--- a/examples/differential_ik_whole_body.py
+++ b/examples/differential_ik_whole_body.py
@@ -18,16 +18,16 @@
     joint_limit_nullspace_component,
     collision_avoidance_nullspace_component,
 )
-from pyroboplan.models.ur5 import (
-    load_ur5_on_base_models,
-    add_ur5_on_base_self_collisions,
-)
 
+from pyroboplan.models.ur10 import (
+    load_ur10_on_base_models,
+    add_ur10_on_base_self_collisions,
+)
 
 if __name__ == "__main__":
     # Create models and data
-    model, collision_model, visual_model = load_ur5_on_base_models()
-    add_ur5_on_base_self_collisions(model, collision_model)
+    model, collision_model, visual_model = load_ur10_on_base_models()
+    add_ur10_on_base_self_collisions(model, collision_model)
 
     data = model.createData()
     collision_data = collision_model.createData()
diff --git a/src/pyroboplan/models/ur10.py b/src/pyroboplan/models/ur10.py
new file mode 100644
index 0000000..08d8d7e
--- /dev/null
+++ b/src/pyroboplan/models/ur10.py
@@ -0,0 +1,47 @@
+""" Utilities to load example Universal Robots UR10 robot models. """
+
+import os
+import pinocchio
+
+from .utils import get_example_models_folder
+
+
+def load_ur10_on_base_models():
+    """
+    Gets the example UR10 on base models.
+
+    Returns
+    -------
+        tuple[`pinocchio.Model`]
+            A 3-tuple containing the model, collision geometry model, and visual geometry model.
+    """
+    models_folder = get_example_models_folder()
+    package_dir = os.path.join(models_folder, "ur_description")
+    urdf_filename = os.path.join(package_dir, "urdf", "ur10_on_base.urdf")
+
+    return pinocchio.buildModelsFromUrdf(urdf_filename, package_dirs=models_folder)
+
+
+def add_ur10_on_base_self_collisions(model, collision_model, srdf_filename=None):
+    """
+    Adds link self-collisions to the UR10 collision model.
+
+    This uses an SRDF file to remove any excluded collision pairs.
+
+    Parameters
+    ----------
+        model : `pinocchio.Model`
+            The Panda model.
+        collision_model : `pinocchio.Model`
+            The Panda collision geometry model.
+        srdf_filename : str, optional
+            Path to the SRDF file describing the excluded collision pairs.
+            If not specified, uses a default file included with the Panda model.
+    """
+    if srdf_filename is None:
+        models_folder = get_example_models_folder()
+        package_dir = os.path.join(models_folder, "ur_description")
+        srdf_filename = os.path.join(package_dir, "srdf", "ur10_on_base.srdf")
+
+    collision_model.addAllCollisionPairs()
+    pinocchio.removeCollisionPairs(model, collision_model, srdf_filename)