diff --git a/pkgs/by-name/ur/urdfdom-headers/package.nix b/pkgs/by-name/ur/urdfdom-headers/package.nix
index 20c19dda0f25..48965207c181 100644
--- a/pkgs/by-name/ur/urdfdom-headers/package.nix
+++ b/pkgs/by-name/ur/urdfdom-headers/package.nix
@@ -9,13 +9,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "urdfdom-headers";
-  version = "2.0.1";
+  version = "3.0.0";
 
   src = fetchFromGitHub {
     owner = "ros";
     repo = "urdfdom_headers";
     tag = finalAttrs.version;
-    hash = "sha256-tBNoG5gH3haZETUlI4Pn1mg14T/sMil9n/iSzjJC+Rg=";
+    hash = "sha256-9bKUuHKSzYiKNDbZwMkB9rbeDC1CUv4X8wDBKkuJkp8=";
   };
 
   patches = [
diff --git a/pkgs/by-name/ur/urdfdom/package.nix b/pkgs/by-name/ur/urdfdom/package.nix
index 6d7d2088decc..6a690ecfce04 100644
--- a/pkgs/by-name/ur/urdfdom/package.nix
+++ b/pkgs/by-name/ur/urdfdom/package.nix
@@ -12,13 +12,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "urdfdom";
-  version = "5.0.4";
+  version = "6.0.0";
 
   src = fetchFromGitHub {
     owner = "ros";
     repo = "urdfdom";
     tag = finalAttrs.version;
-    hash = "sha256-52Iv9ltYaGr6Ys3FreBSHOfJnVEp7kwjBpi8Cm6aC/g=";
+    hash = "sha256-7ExQaz1/QshWwX8C3F2ZY4/Ty8U3/dXnBfwjGYB0SRg=";
   };
 
   patches = [