diff --git a/examples/example_collision_along_path.py b/examples/example_collision_along_path.py
index f65888c..801970b 100644
--- a/examples/example_collision_along_path.py
+++ b/examples/example_collision_along_path.py
@@ -3,10 +3,10 @@
 from pinocchio.visualize import MeshcatVisualizer
 import meshcat.geometry as mg
 import numpy as np
-from os.path import dirname, join, abspath
 import time
 
 from pyroboplan.core.utils import extract_cartesian_poses
+from pyroboplan.models.panda import load_models, add_self_collisions
 from pyroboplan.planning.utils import discretize_joint_space_path
 from pyroboplan.visualization.meshcat_utils import visualize_frames
 
@@ -31,33 +31,12 @@ def prepare_collision_scene(collision_model):
     obstacle_1 = pinocchio.GeometryObject(
         "obstacle_1",
         0,
-        hppfcl.Box(0.25, 0.25, 0.25),
+        hppfcl.Box(0.3, 0.3, 0.3),
         pinocchio.SE3(np.eye(3), np.array([-0.5, 0.5, 0.7])),
     )
     obstacle_1.meshColor = np.array([0.0, 1.0, 0.0, 0.2])
     collision_model.addGeometryObject(obstacle_1)
 
-
-if __name__ == "__main__":
-    # Create models and data
-    pinocchio_model_dir = join(dirname(str(abspath(__file__))), "..", "models")
-    package_dir = join(pinocchio_model_dir, "panda_description")
-    urdf_filename = join(package_dir, "urdf", "panda.urdf")
-
-    model, collision_model, visual_model = pinocchio.buildModelsFromUrdf(
-        urdf_filename, package_dirs=pinocchio_model_dir
-    )
-    data = model.createData()
-
-    prepare_collision_scene(collision_model)
-
-    # Initialize visualizer
-    viz = MeshcatVisualizer(model, collision_model, visual_model, data=data)
-    viz.initViewer(open=True)
-    viz.loadViewerModel()
-    viz.displayCollisions(True)
-    viz.displayVisuals(False)
-
     # Define the active collision pairs
     collision_names = [
         cobj.name for cobj in collision_model.geometryObjects if "panda" in cobj.name
@@ -71,7 +50,23 @@ def prepare_collision_scene(collision_model):
                     collision_model.getGeometryId(obstacle_name),
                 )
             )
-    collision_data = pinocchio.GeometryData(collision_model)
+
+
+if __name__ == "__main__":
+    # Create models and data
+    model, collision_model, visual_model = load_models()
+    add_self_collisions(collision_model)
+    prepare_collision_scene(collision_model)
+
+    data = model.createData()
+    collision_data = collision_model.createData()
+
+    # Initialize visualizer
+    viz = MeshcatVisualizer(model, collision_model, visual_model, data=data)
+    viz.initViewer(open=True)
+    viz.loadViewerModel()
+    viz.displayCollisions(True)
+    viz.displayVisuals(False)
 
     # Define a joint space path
     q_start = pinocchio.randomConfiguration(model)
diff --git a/examples/example_differential_ik.py b/examples/example_differential_ik.py
index d21714f..122bb2c 100644
--- a/examples/example_differential_ik.py
+++ b/examples/example_differential_ik.py
@@ -1,72 +1,24 @@
-import hppfcl
-import pinocchio
 from pinocchio.visualize import MeshcatVisualizer
 import numpy as np
-from os.path import dirname, join, abspath
 
 from pyroboplan.core.utils import get_random_state, get_random_transform
 from pyroboplan.ik.differential_ik import DifferentialIk, DifferentialIkOptions
 from pyroboplan.ik.nullspace_components import joint_limit_nullspace_component
-
-
-def prepare_scene(visual_model, collision_model):
-    """Helper function to create a collision scene for this example."""
-
-    # Add collision objects
-    obstacle_sphere_1 = pinocchio.GeometryObject(
-        "obstacle_sphere_1",
-        0,
-        hppfcl.Sphere(0.2),
-        pinocchio.SE3(np.eye(3), np.array([0.0, 0.1, 1.1])),
-    )
-    obstacle_sphere_1.meshColor = np.array([0.0, 1.0, 0.0, 0.5])
-    visual_model.addGeometryObject(obstacle_sphere_1)
-    collision_model.addGeometryObject(obstacle_sphere_1)
-
-    obstacle_sphere_2 = pinocchio.GeometryObject(
-        "obstacle_sphere_2",
-        0,
-        hppfcl.Sphere(0.25),
-        pinocchio.SE3(np.eye(3), np.array([0.5, 0.5, 0.5])),
-    )
-    obstacle_sphere_2.meshColor = np.array([1.0, 1.0, 0.0, 0.5])
-    visual_model.addGeometryObject(obstacle_sphere_2)
-    collision_model.addGeometryObject(obstacle_sphere_2)
-
-    obstacle_box_1 = pinocchio.GeometryObject(
-        "obstacle_box_1",
-        0,
-        hppfcl.Box(0.25, 0.25, 0.25),
-        pinocchio.SE3(np.eye(3), np.array([-0.5, 0.5, 0.7])),
-    )
-    obstacle_box_1.meshColor = np.array([1.0, 0.0, 0.0, 0.5])
-    visual_model.addGeometryObject(obstacle_box_1)
-    collision_model.addGeometryObject(obstacle_box_1)
-
-    obstacle_box_2 = pinocchio.GeometryObject(
-        "obstacle_box_2",
-        0,
-        hppfcl.Box(0.33, 0.33, 0.33),
-        pinocchio.SE3(np.eye(3), np.array([-0.5, -0.5, 0.75])),
-    )
-    obstacle_box_2.meshColor = np.array([0.0, 0.0, 1.0, 0.5])
-    visual_model.addGeometryObject(obstacle_box_2)
-    collision_model.addGeometryObject(obstacle_box_2)
+from pyroboplan.models.panda import (
+    load_models,
+    add_self_collisions,
+    add_object_collisions,
+)
 
 
 if __name__ == "__main__":
     # Create models and data
-    pinocchio_model_dir = join(dirname(str(abspath(__file__))), "..", "models")
-    package_dir = join(pinocchio_model_dir, "panda_description")
-    urdf_filename = join(package_dir, "urdf", "panda.urdf")
+    model, collision_model, visual_model = load_models()
+    add_self_collisions(collision_model)
+    add_object_collisions(collision_model, visual_model)
 
-    model, collision_model, visual_model = pinocchio.buildModelsFromUrdf(
-        urdf_filename, package_dirs=pinocchio_model_dir
-    )
     data = model.createData()
-
-    # Comment out to exclude collision objects.
-    prepare_scene(visual_model, collision_model)
+    collision_data = collision_model.createData()
 
     # Initialize visualizer
     viz = MeshcatVisualizer(model, collision_model, visual_model, data=data)
@@ -74,26 +26,6 @@ def prepare_scene(visual_model, collision_model):
     viz.loadViewerModel()
     np.set_printoptions(precision=3)
 
-    # Define the active collision pairs
-    collision_names = [
-        cobj.name for cobj in collision_model.geometryObjects if "panda" in cobj.name
-    ]
-    obstacle_names = [
-        "obstacle_box_1",
-        "obstacle_box_2",
-        "obstacle_sphere_1",
-        "obstacle_sphere_2",
-    ]
-    for obstacle_name in obstacle_names:
-        for collision_name in collision_names:
-            collision_model.addCollisionPair(
-                pinocchio.CollisionPair(
-                    collision_model.getGeometryId(collision_name),
-                    collision_model.getGeometryId(obstacle_name),
-                )
-            )
-    collision_data = pinocchio.GeometryData(collision_model)
-
     # Set up the IK solver
     ik = DifferentialIk(
         model, data=data, collision_model=collision_model, visualizer=viz
diff --git a/examples/example_rrt.py b/examples/example_rrt.py
index 9821aca..0f1be33 100644
--- a/examples/example_rrt.py
+++ b/examples/example_rrt.py
@@ -1,141 +1,30 @@
-import hppfcl
-import pinocchio
 from pinocchio.visualize import MeshcatVisualizer
-import numpy as np
-from os.path import dirname, join, abspath
 import time
 
 from pyroboplan.core.utils import get_random_collision_free_state
+from pyroboplan.models.panda import (
+    load_models,
+    add_self_collisions,
+    add_object_collisions,
+)
 from pyroboplan.planning.rrt import RRTPlanner, RRTPlannerOptions
 from pyroboplan.planning.utils import discretize_joint_space_path
 
 
-def prepare_scene(visual_model, collision_model):
-    """Helper function to create a collision scene for this example."""
-
-    # Add self collisions
-    self_collision_pair_names = [
-        ("panda_link0_0", "panda_link2_0"),
-        ("panda_link0_0", "panda_link3_0"),
-        ("panda_link0_0", "panda_link4_0"),
-        ("panda_link0_0", "panda_link5_0"),
-        ("panda_link0_0", "panda_link6_0"),
-        ("panda_link0_0", "panda_link7_0"),
-        ("panda_link1_0", "panda_link3_0"),
-        ("panda_link1_0", "panda_link4_0"),
-        ("panda_link1_0", "panda_link5_0"),
-        ("panda_link1_0", "panda_link6_0"),
-        ("panda_link1_0", "panda_link7_0"),
-        ("panda_link2_0", "panda_link4_0"),
-        ("panda_link2_0", "panda_link5_0"),
-        ("panda_link2_0", "panda_link6_0"),
-        ("panda_link2_0", "panda_link7_0"),
-        ("panda_link3_0", "panda_link5_0"),
-        ("panda_link3_0", "panda_link6_0"),
-        ("panda_link3_0", "panda_link7_0"),
-        ("panda_link4_0", "panda_link6_0"),
-        ("panda_link4_0", "panda_link7_0"),
-        ("panda_link5_0", "panda_link7_0"),
-    ]
-    for pair in self_collision_pair_names:
-        collision_model.addCollisionPair(
-            pinocchio.CollisionPair(
-                collision_model.getGeometryId(pair[0]),
-                collision_model.getGeometryId(pair[1]),
-            )
-        )
-
-    # Add collision objects
-    ground_plane = pinocchio.GeometryObject(
-        "ground_plane",
-        0,
-        hppfcl.Box(2.0, 2.0, 0.01),
-        pinocchio.SE3(np.eye(3), np.array([0.0, 0.0, -0.006])),
-    )
-    ground_plane.meshColor = np.array([0.5, 0.5, 0.5, 0.5])
-    visual_model.addGeometryObject(ground_plane)
-    collision_model.addGeometryObject(ground_plane)
-
-    obstacle_sphere_1 = pinocchio.GeometryObject(
-        "obstacle_sphere_1",
-        0,
-        hppfcl.Sphere(0.2),
-        pinocchio.SE3(np.eye(3), np.array([0.0, 0.1, 1.1])),
-    )
-    obstacle_sphere_1.meshColor = np.array([0.0, 1.0, 0.0, 0.5])
-    visual_model.addGeometryObject(obstacle_sphere_1)
-    collision_model.addGeometryObject(obstacle_sphere_1)
-
-    obstacle_sphere_2 = pinocchio.GeometryObject(
-        "obstacle_sphere_2",
-        0,
-        hppfcl.Sphere(0.25),
-        pinocchio.SE3(np.eye(3), np.array([0.5, 0.5, 0.5])),
-    )
-    obstacle_sphere_2.meshColor = np.array([1.0, 1.0, 0.0, 0.5])
-    visual_model.addGeometryObject(obstacle_sphere_2)
-    collision_model.addGeometryObject(obstacle_sphere_2)
-
-    obstacle_box_1 = pinocchio.GeometryObject(
-        "obstacle_box_1",
-        0,
-        hppfcl.Box(0.25, 0.25, 0.25),
-        pinocchio.SE3(np.eye(3), np.array([-0.5, 0.5, 0.7])),
-    )
-    obstacle_box_1.meshColor = np.array([1.0, 0.0, 0.0, 0.5])
-    visual_model.addGeometryObject(obstacle_box_1)
-    collision_model.addGeometryObject(obstacle_box_1)
-
-    obstacle_box_2 = pinocchio.GeometryObject(
-        "obstacle_box_2",
-        0,
-        hppfcl.Box(0.33, 0.33, 0.33),
-        pinocchio.SE3(np.eye(3), np.array([-0.5, -0.5, 0.75])),
-    )
-    obstacle_box_2.meshColor = np.array([0.0, 0.0, 1.0, 0.5])
-    visual_model.addGeometryObject(obstacle_box_2)
-    collision_model.addGeometryObject(obstacle_box_2)
-
-
 if __name__ == "__main__":
     # Create models and data
-    pinocchio_model_dir = join(dirname(str(abspath(__file__))), "..", "models")
-    package_dir = join(pinocchio_model_dir, "panda_description")
-    urdf_filename = join(package_dir, "urdf", "panda.urdf")
+    model, collision_model, visual_model = load_models()
+    add_self_collisions(collision_model)
+    add_object_collisions(collision_model, visual_model)
 
-    model, collision_model, visual_model = pinocchio.buildModelsFromUrdf(
-        urdf_filename, package_dirs=pinocchio_model_dir
-    )
     data = model.createData()
-
-    prepare_scene(visual_model, collision_model)
+    collision_data = collision_model.createData()
 
     # Initialize visualizer
     viz = MeshcatVisualizer(model, collision_model, visual_model, data=data)
     viz.initViewer(open=True)
     viz.loadViewerModel()
 
-    # Define the active collision pairs
-    collision_names = [
-        cobj.name for cobj in collision_model.geometryObjects if "panda" in cobj.name
-    ]
-    obstacle_names = [
-        "ground_plane",
-        "obstacle_box_1",
-        "obstacle_box_2",
-        "obstacle_sphere_1",
-        "obstacle_sphere_2",
-    ]
-    for obstacle_name in obstacle_names:
-        for collision_name in collision_names:
-            collision_model.addCollisionPair(
-                pinocchio.CollisionPair(
-                    collision_model.getGeometryId(collision_name),
-                    collision_model.getGeometryId(obstacle_name),
-                )
-            )
-    collision_data = pinocchio.GeometryData(collision_model)
-
     # Define the start and end configurations
     q_start = get_random_collision_free_state(model, collision_model)
     q_end = get_random_collision_free_state(model, collision_model)
diff --git a/src/pyroboplan/models/__init__.py b/src/pyroboplan/models/__init__.py
new file mode 100644
index 0000000..4c80dc4
--- /dev/null
+++ b/src/pyroboplan/models/__init__.py
@@ -0,0 +1 @@
+""" Contains example robot models. """
diff --git a/src/pyroboplan/models/panda.py b/src/pyroboplan/models/panda.py
new file mode 100644
index 0000000..d0b4252
--- /dev/null
+++ b/src/pyroboplan/models/panda.py
@@ -0,0 +1,148 @@
+""" Utilities to load example Franka Emika Panda model. """
+
+import hppfcl
+import numpy as np
+import os
+import pinocchio
+
+from .utils import get_example_models_folder
+
+
+def load_models():
+    """
+    Gets the example Panda 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, "panda_description")
+    urdf_filename = os.path.join(package_dir, "urdf", "panda.urdf")
+
+    return pinocchio.buildModelsFromUrdf(urdf_filename, package_dirs=models_folder)
+
+
+def add_self_collisions(collision_model):
+    """
+    Adds link self-collisions to the Panda collision model.
+
+    Parameters
+    ----------
+        collision_model : `pinocchio.Model`
+            The Panda collision geometry model.
+    """
+    self_collision_pair_names = [
+        ("panda_link0_0", "panda_link2_0"),
+        ("panda_link0_0", "panda_link3_0"),
+        ("panda_link0_0", "panda_link4_0"),
+        ("panda_link0_0", "panda_link5_0"),
+        ("panda_link0_0", "panda_link6_0"),
+        ("panda_link0_0", "panda_link7_0"),
+        ("panda_link1_0", "panda_link3_0"),
+        ("panda_link1_0", "panda_link4_0"),
+        ("panda_link1_0", "panda_link5_0"),
+        ("panda_link1_0", "panda_link6_0"),
+        ("panda_link1_0", "panda_link7_0"),
+        ("panda_link2_0", "panda_link4_0"),
+        ("panda_link2_0", "panda_link5_0"),
+        ("panda_link2_0", "panda_link6_0"),
+        ("panda_link2_0", "panda_link7_0"),
+        ("panda_link3_0", "panda_link5_0"),
+        ("panda_link3_0", "panda_link6_0"),
+        ("panda_link3_0", "panda_link7_0"),
+        ("panda_link4_0", "panda_link6_0"),
+        ("panda_link4_0", "panda_link7_0"),
+        ("panda_link5_0", "panda_link7_0"),
+    ]
+    for pair in self_collision_pair_names:
+        collision_model.addCollisionPair(
+            pinocchio.CollisionPair(
+                collision_model.getGeometryId(pair[0]),
+                collision_model.getGeometryId(pair[1]),
+            )
+        )
+
+
+def add_object_collisions(collision_model, visual_model):
+    """
+    Adds link self-collisions to the Panda collision model.
+
+    Parameters
+    ----------
+        collision_model : `pinocchio.Model`
+            The Panda collision geometry model.
+        visual_model : `pinocchio.Model`
+            The Panda visual geometry model.
+    """
+    # Add the collision objects
+    ground_plane = pinocchio.GeometryObject(
+        "ground_plane",
+        0,
+        hppfcl.Box(2.0, 2.0, 0.01),
+        pinocchio.SE3(np.eye(3), np.array([0.0, 0.0, -0.006])),
+    )
+    ground_plane.meshColor = np.array([0.5, 0.5, 0.5, 0.5])
+    visual_model.addGeometryObject(ground_plane)
+    collision_model.addGeometryObject(ground_plane)
+
+    obstacle_sphere_1 = pinocchio.GeometryObject(
+        "obstacle_sphere_1",
+        0,
+        hppfcl.Sphere(0.2),
+        pinocchio.SE3(np.eye(3), np.array([0.0, 0.1, 1.1])),
+    )
+    obstacle_sphere_1.meshColor = np.array([0.0, 1.0, 0.0, 0.5])
+    visual_model.addGeometryObject(obstacle_sphere_1)
+    collision_model.addGeometryObject(obstacle_sphere_1)
+
+    obstacle_sphere_2 = pinocchio.GeometryObject(
+        "obstacle_sphere_2",
+        0,
+        hppfcl.Sphere(0.25),
+        pinocchio.SE3(np.eye(3), np.array([0.5, 0.5, 0.5])),
+    )
+    obstacle_sphere_2.meshColor = np.array([1.0, 1.0, 0.0, 0.5])
+    visual_model.addGeometryObject(obstacle_sphere_2)
+    collision_model.addGeometryObject(obstacle_sphere_2)
+
+    obstacle_box_1 = pinocchio.GeometryObject(
+        "obstacle_box_1",
+        0,
+        hppfcl.Box(0.25, 0.25, 0.25),
+        pinocchio.SE3(np.eye(3), np.array([-0.5, 0.5, 0.7])),
+    )
+    obstacle_box_1.meshColor = np.array([1.0, 0.0, 0.0, 0.5])
+    visual_model.addGeometryObject(obstacle_box_1)
+    collision_model.addGeometryObject(obstacle_box_1)
+
+    obstacle_box_2 = pinocchio.GeometryObject(
+        "obstacle_box_2",
+        0,
+        hppfcl.Box(0.33, 0.33, 0.33),
+        pinocchio.SE3(np.eye(3), np.array([-0.5, -0.5, 0.75])),
+    )
+    obstacle_box_2.meshColor = np.array([0.0, 0.0, 1.0, 0.5])
+    visual_model.addGeometryObject(obstacle_box_2)
+    collision_model.addGeometryObject(obstacle_box_2)
+
+    # Define the active collision pairs between the robot and obstacle links.
+    collision_names = [
+        cobj.name for cobj in collision_model.geometryObjects if "panda" in cobj.name
+    ]
+    obstacle_names = [
+        "ground_plane",
+        "obstacle_box_1",
+        "obstacle_box_2",
+        "obstacle_sphere_1",
+        "obstacle_sphere_2",
+    ]
+    for obstacle_name in obstacle_names:
+        for collision_name in collision_names:
+            collision_model.addCollisionPair(
+                pinocchio.CollisionPair(
+                    collision_model.getGeometryId(collision_name),
+                    collision_model.getGeometryId(obstacle_name),
+                )
+            )
diff --git a/models/panda_description/LICENSE b/src/pyroboplan/models/panda_description/LICENSE
similarity index 100%
rename from models/panda_description/LICENSE
rename to src/pyroboplan/models/panda_description/LICENSE
diff --git a/models/panda_description/README.md b/src/pyroboplan/models/panda_description/README.md
similarity index 100%
rename from models/panda_description/README.md
rename to src/pyroboplan/models/panda_description/README.md
diff --git a/models/panda_description/meshes/collision/finger.stl b/src/pyroboplan/models/panda_description/meshes/collision/finger.stl
similarity index 100%
rename from models/panda_description/meshes/collision/finger.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/finger.stl
diff --git a/models/panda_description/meshes/collision/hand.stl b/src/pyroboplan/models/panda_description/meshes/collision/hand.stl
similarity index 100%
rename from models/panda_description/meshes/collision/hand.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/hand.stl
diff --git a/models/panda_description/meshes/collision/link0.stl b/src/pyroboplan/models/panda_description/meshes/collision/link0.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link0.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link0.stl
diff --git a/models/panda_description/meshes/collision/link1.stl b/src/pyroboplan/models/panda_description/meshes/collision/link1.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link1.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link1.stl
diff --git a/models/panda_description/meshes/collision/link2.stl b/src/pyroboplan/models/panda_description/meshes/collision/link2.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link2.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link2.stl
diff --git a/models/panda_description/meshes/collision/link3.stl b/src/pyroboplan/models/panda_description/meshes/collision/link3.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link3.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link3.stl
diff --git a/models/panda_description/meshes/collision/link4.stl b/src/pyroboplan/models/panda_description/meshes/collision/link4.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link4.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link4.stl
diff --git a/models/panda_description/meshes/collision/link5.stl b/src/pyroboplan/models/panda_description/meshes/collision/link5.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link5.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link5.stl
diff --git a/models/panda_description/meshes/collision/link6.stl b/src/pyroboplan/models/panda_description/meshes/collision/link6.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link6.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link6.stl
diff --git a/models/panda_description/meshes/collision/link7.stl b/src/pyroboplan/models/panda_description/meshes/collision/link7.stl
similarity index 100%
rename from models/panda_description/meshes/collision/link7.stl
rename to src/pyroboplan/models/panda_description/meshes/collision/link7.stl
diff --git a/models/panda_description/meshes/visual/finger.dae b/src/pyroboplan/models/panda_description/meshes/visual/finger.dae
similarity index 100%
rename from models/panda_description/meshes/visual/finger.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/finger.dae
diff --git a/models/panda_description/meshes/visual/hand.dae b/src/pyroboplan/models/panda_description/meshes/visual/hand.dae
similarity index 100%
rename from models/panda_description/meshes/visual/hand.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/hand.dae
diff --git a/models/panda_description/meshes/visual/link0.dae b/src/pyroboplan/models/panda_description/meshes/visual/link0.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link0.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link0.dae
diff --git a/models/panda_description/meshes/visual/link1.dae b/src/pyroboplan/models/panda_description/meshes/visual/link1.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link1.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link1.dae
diff --git a/models/panda_description/meshes/visual/link2.dae b/src/pyroboplan/models/panda_description/meshes/visual/link2.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link2.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link2.dae
diff --git a/models/panda_description/meshes/visual/link3.dae b/src/pyroboplan/models/panda_description/meshes/visual/link3.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link3.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link3.dae
diff --git a/models/panda_description/meshes/visual/link4.dae b/src/pyroboplan/models/panda_description/meshes/visual/link4.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link4.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link4.dae
diff --git a/models/panda_description/meshes/visual/link5.dae b/src/pyroboplan/models/panda_description/meshes/visual/link5.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link5.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link5.dae
diff --git a/models/panda_description/meshes/visual/link6.dae b/src/pyroboplan/models/panda_description/meshes/visual/link6.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link6.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link6.dae
diff --git a/models/panda_description/meshes/visual/link7.dae b/src/pyroboplan/models/panda_description/meshes/visual/link7.dae
similarity index 100%
rename from models/panda_description/meshes/visual/link7.dae
rename to src/pyroboplan/models/panda_description/meshes/visual/link7.dae
diff --git a/models/panda_description/urdf/panda.urdf b/src/pyroboplan/models/panda_description/urdf/panda.urdf
similarity index 100%
rename from models/panda_description/urdf/panda.urdf
rename to src/pyroboplan/models/panda_description/urdf/panda.urdf
diff --git a/src/pyroboplan/models/utils.py b/src/pyroboplan/models/utils.py
new file mode 100644
index 0000000..2bb9c8b
--- /dev/null
+++ b/src/pyroboplan/models/utils.py
@@ -0,0 +1,16 @@
+""" Utilities for model loading. """
+
+import importlib.resources
+import pyroboplan
+
+
+def get_example_models_folder():
+    """
+    Returns the full path the example models folder.
+
+    Returns
+    -------
+        str
+            The path to the `pyroboplan` example models folder.
+    """
+    return importlib.resources.path(pyroboplan, "models").as_posix()
diff --git a/test/core/test_utils.py b/test/core/test_utils.py
index 38de5dd..ec61503 100644
--- a/test/core/test_utils.py
+++ b/test/core/test_utils.py
@@ -1,4 +1,3 @@
-from os.path import dirname, join, abspath
 import numpy as np
 import pinocchio
 import pytest
@@ -12,54 +11,13 @@
     get_random_state,
     get_random_transform,
 )
+from pyroboplan.models.panda import load_models, add_self_collisions
 
 
 # Use a fixed seed for random number generation in tests.
 np.random.seed(1234)
 
 
-def load_panda_models():
-    pinocchio_model_dir = join(dirname(str(abspath(__file__))), "..", "..", "models")
-    package_dir = join(pinocchio_model_dir, "panda_description")
-    urdf_filename = join(package_dir, "urdf", "panda.urdf")
-    return pinocchio.buildModelsFromUrdf(
-        urdf_filename, package_dirs=pinocchio_model_dir
-    )
-
-
-def activate_panda_self_collision_pairs(collision_model):
-    collision_pair_names = [
-        ("panda_link0_0", "panda_link2_0"),
-        ("panda_link0_0", "panda_link3_0"),
-        ("panda_link0_0", "panda_link4_0"),
-        ("panda_link0_0", "panda_link5_0"),
-        ("panda_link0_0", "panda_link6_0"),
-        ("panda_link0_0", "panda_link7_0"),
-        ("panda_link1_0", "panda_link3_0"),
-        ("panda_link1_0", "panda_link4_0"),
-        ("panda_link1_0", "panda_link5_0"),
-        ("panda_link1_0", "panda_link6_0"),
-        ("panda_link1_0", "panda_link7_0"),
-        ("panda_link2_0", "panda_link4_0"),
-        ("panda_link2_0", "panda_link5_0"),
-        ("panda_link2_0", "panda_link6_0"),
-        ("panda_link2_0", "panda_link7_0"),
-        ("panda_link3_0", "panda_link5_0"),
-        ("panda_link3_0", "panda_link6_0"),
-        ("panda_link3_0", "panda_link7_0"),
-        ("panda_link4_0", "panda_link6_0"),
-        ("panda_link4_0", "panda_link7_0"),
-        ("panda_link5_0", "panda_link7_0"),
-    ]
-    for pair in collision_pair_names:
-        collision_model.addCollisionPair(
-            pinocchio.CollisionPair(
-                collision_model.getGeometryId(pair[0]),
-                collision_model.getGeometryId(pair[1]),
-            )
-        )
-
-
 def test_configuration_distance():
     q_start = np.array([0.0, 0.0, 0.0, 0.0, 0.0])
     q_end = np.array([0.3, 0.0, -0.4, 0.0, 0.0])
@@ -67,7 +25,7 @@ def test_configuration_distance():
 
 
 def test_get_random_state():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     for _ in range(10):
         state = get_random_state(model)
         assert np.all(state >= model.lowerPositionLimit)
@@ -75,7 +33,7 @@ def test_get_random_state():
 
 
 def test_get_random_state_with_scalar_padding():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     padding = 0.01
     for _ in range(10):
         state = get_random_state(model, padding=padding)
@@ -84,7 +42,7 @@ def test_get_random_state_with_scalar_padding():
 
 
 def test_get_random_state_with_vector_padding():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     padding = [0.1, 0.2, 0.1, 0.2, 0.1, 0.2, 0.1, 0.01, 0.01]
     for _ in range(10):
         state = get_random_state(model, padding=padding)
@@ -93,13 +51,13 @@ def test_get_random_state_with_vector_padding():
 
 
 def test_get_random_transform():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     tform = get_random_transform(model, "panda_hand")
     assert isinstance(tform, pinocchio.SE3)
 
 
 def test_within_limits():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
 
     assert check_within_limits(model, get_random_state(model))
     assert not check_within_limits(model, model.upperPositionLimit + 0.2)
@@ -107,7 +65,7 @@ def test_within_limits():
 
 
 def test_extract_cartesian_poses():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
 
     q_vec = [get_random_state(model) for _ in range(5)]
     tforms = extract_cartesian_poses(model, "panda_hand", q_vec)
@@ -118,8 +76,8 @@ def test_extract_cartesian_poses():
 
 
 def test_check_collisions_at_state():
-    model, collision_model, _ = load_panda_models()
-    activate_panda_self_collision_pairs(collision_model)
+    model, collision_model, _ = load_models()
+    add_self_collisions(collision_model)
 
     collision_state = np.array(
         [
@@ -154,8 +112,8 @@ def test_check_collisions_at_state():
 
 
 def test_check_collisions_along_path():
-    model, collision_model, _ = load_panda_models()
-    activate_panda_self_collision_pairs(collision_model)
+    model, collision_model, _ = load_models()
+    add_self_collisions(collision_model)
 
     collision_state = np.array(
         [
diff --git a/test/ik/test_differential_ik.py b/test/ik/test_differential_ik.py
index 3f8174f..edc4f85 100644
--- a/test/ik/test_differential_ik.py
+++ b/test/ik/test_differential_ik.py
@@ -1,55 +1,13 @@
 import copy
-from os.path import dirname, join, abspath
 import numpy as np
 import pinocchio
 
 from pyroboplan.ik.differential_ik import DifferentialIk, DifferentialIkOptions
-
-
-def load_panda_models():
-    pinocchio_model_dir = join(dirname(str(abspath(__file__))), "..", "..", "models")
-    package_dir = join(pinocchio_model_dir, "panda_description")
-    urdf_filename = join(package_dir, "urdf", "panda.urdf")
-    return pinocchio.buildModelsFromUrdf(
-        urdf_filename, package_dirs=pinocchio_model_dir
-    )
-
-
-def activate_panda_self_collision_pairs(collision_model):
-    collision_pair_names = [
-        ("panda_link0_0", "panda_link2_0"),
-        ("panda_link0_0", "panda_link3_0"),
-        ("panda_link0_0", "panda_link4_0"),
-        ("panda_link0_0", "panda_link5_0"),
-        ("panda_link0_0", "panda_link6_0"),
-        ("panda_link0_0", "panda_link7_0"),
-        ("panda_link1_0", "panda_link3_0"),
-        ("panda_link1_0", "panda_link4_0"),
-        ("panda_link1_0", "panda_link5_0"),
-        ("panda_link1_0", "panda_link6_0"),
-        ("panda_link1_0", "panda_link7_0"),
-        ("panda_link2_0", "panda_link4_0"),
-        ("panda_link2_0", "panda_link5_0"),
-        ("panda_link2_0", "panda_link6_0"),
-        ("panda_link2_0", "panda_link7_0"),
-        ("panda_link3_0", "panda_link5_0"),
-        ("panda_link3_0", "panda_link6_0"),
-        ("panda_link3_0", "panda_link7_0"),
-        ("panda_link4_0", "panda_link6_0"),
-        ("panda_link4_0", "panda_link7_0"),
-        ("panda_link5_0", "panda_link7_0"),
-    ]
-    for pair in collision_pair_names:
-        collision_model.addCollisionPair(
-            pinocchio.CollisionPair(
-                collision_model.getGeometryId(pair[0]),
-                collision_model.getGeometryId(pair[1]),
-            )
-        )
+from pyroboplan.models.panda import load_models, add_self_collisions
 
 
 def test_ik_solve_trivial_ik():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     data = model.createData()
     target_frame = "panda_hand"
 
@@ -77,7 +35,7 @@ def test_ik_solve_trivial_ik():
 
 
 def test_ik_solve_ik():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     data = model.createData()
     target_frame = "panda_hand"
 
@@ -115,7 +73,7 @@ def test_ik_solve_ik():
 
 
 def test_ik_solve_impossible_ik():
-    model, _, _ = load_panda_models()
+    model, _, _ = load_models()
     target_frame = "panda_hand"
 
     # Target is unreachable by the panda
@@ -138,8 +96,8 @@ def test_ik_solve_impossible_ik():
 
 
 def test_ik_in_collision():
-    model, collision_model, _ = load_panda_models()
-    activate_panda_self_collision_pairs(collision_model)
+    model, collision_model, _ = load_models()
+    add_self_collisions(collision_model)
     target_frame = "panda_hand"
 
     # Target is reachable, but in self-collision.