diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0c105aa..d867931 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 
 - Description: AgileX PiPER (MJCF)
 - Description: AgileX PiPER (URDF)
+- Description: Robot Soccer Kit
 - Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan)
 
 ### Fixed
diff --git a/README.md b/README.md
index 07499d9..3d34797 100644
--- a/README.md
+++ b/README.md
@@ -125,6 +125,7 @@ Available robot descriptions ([gallery](https://github.com/robot-descriptions/aw
 - [Humanoids](#humanoids)
 - [Mobile manipulators](#mobile-manipulators)
 - [Quadrupeds](#quadrupeds)
+- [Wheeled](#wheeled)
 
 The DOF column denotes the number of actuated degrees of freedom.
 
@@ -278,6 +279,12 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `minitaur_description`        | Minitaur              | Ghost Robotics           | 16  | URDF       |
 | `solo_description`            | Solo                  | ODRI                     | 12  | URDF       |
 
+### Wheeled
+
+| Name                          | Robot                 | Maker                    | Format     | License |
+|-------------------------------|-----------------------|--------------------------|------------|---------|
+| `rsk_description`             | RSK Omnidirectional   | Robot Soccer Kit         | URDF       | MIT     |
+
 ## Contributing
 
 New robot descriptions are welcome! Check out the [guidelines](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/CONTRIBUTING.md) then open a PR.
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index 4c981b4..e1ee193 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -119,6 +119,7 @@ def has_urdf(self) -> bool:
     "robotiq_2f85_mj_description": Description(Format.MJCF),
     "robotiq_2f85_v4_mj_description": Description(Format.MJCF),
     "romeo_description": Description(Format.URDF),
+    "rsk_description": Description(Format.URDF),
     "sawyer_mj_description": Description(Format.MJCF),
     "shadow_hand_mj_description": Description(Format.MJCF),
     "simple_humanoid_description": Description(Format.URDF),
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index 56eb68d..4a6ab5f 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -175,6 +175,11 @@ class Repository:
         commit="54cdeb1dbfb529b79ae3185a53e24fce26e1b74b",
         cache_path="nasa-urdf-robots",
     ),
+    "onshape-to-robot-examples": Repository(
+        url="https://github.com/Rhoban/onshape-to-robot-examples.git",
+        commit="911abb069c781e4c717c10643b975f55f7a64fe8",
+        cache_path="onshape-to-robot-examples",
+    ),
     "pepper_description": Repository(
         url="https://github.com/jrl-umi3218/pepper_description.git",
         commit="cd9715bb5df7ad57445d953db7b1924255305944",
diff --git a/robot_descriptions/rsk_description.py b/robot_descriptions/rsk_description.py
new file mode 100644
index 0000000..487659c
--- /dev/null
+++ b/robot_descriptions/rsk_description.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""RSK omnidirection robot description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "onshape-to-robot-examples",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "rsk_urdf")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "robot.urdf")