diff --git a/modules/urdfdom/2.3.4.bcr.1/MODULE.bazel b/modules/urdfdom/2.3.4.bcr.1/MODULE.bazel
new file mode 100644
index 00000000000..e0536ce90ae
--- /dev/null
+++ b/modules/urdfdom/2.3.4.bcr.1/MODULE.bazel
@@ -0,0 +1,11 @@
+module(
+    name = "urdfdom",
+    version = "2.3.4.bcr.1",
+    compatibility_level = 0,
+    bazel_compatibility = [">=7.2.1"],
+)
+
+bazel_dep(name = "rules_cc", version = "0.1.1")
+bazel_dep(name = "console_bridge", version = "1.0.1")
+bazel_dep(name = "urdfdom_headers", version = "1.0.5")
+bazel_dep(name = "tinyxml", version = "2.6.2.bcr.1")
diff --git a/modules/urdfdom/2.3.4.bcr.1/overlay/BUILD.bazel b/modules/urdfdom/2.3.4.bcr.1/overlay/BUILD.bazel
new file mode 100644
index 00000000000..b6e2fd6332d
--- /dev/null
+++ b/modules/urdfdom/2.3.4.bcr.1/overlay/BUILD.bazel
@@ -0,0 +1,48 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
+
+cc_library(
+    name = "urdfdom",
+    hdrs = [
+        "urdf_parser/include/urdf_parser/exportdecl.h",
+        "urdf_parser/include/urdf_parser/urdf_parser.h",
+    ],
+    srcs = [
+        "urdf_parser/src/joint.cpp",
+        "urdf_parser/src/link.cpp",
+        "urdf_parser/src/model.cpp",
+        "urdf_parser/src/pose.cpp",
+        "urdf_parser/src/twist.cpp",
+        "urdf_parser/src/urdf_model_state.cpp",
+        "urdf_parser/src/urdf_sensor.cpp",
+        "urdf_parser/src/world.cpp",
+    ],
+    deps = [
+        "@urdfdom_headers",
+        "@tinyxml",
+        "@console_bridge",
+    ],
+    includes = ["urdf_parser/include"],
+    visibility = ["//visibility:public"],
+)
+
+cc_binary(
+    name = "check_urdf",
+    srcs = [
+        "urdf_parser/src/check_urdf.cpp",
+    ],
+    deps = [
+        ":urdfdom",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_binary(
+    name = "urdf_to_graphiz",
+    srcs = [
+        "urdf_parser/src/urdf_to_graphiz.cpp",
+    ],
+    deps = [
+        ":urdfdom",
+    ],
+    visibility = ["//visibility:public"],
+)
diff --git a/modules/urdfdom/2.3.4.bcr.1/overlay/MODULE.bazel b/modules/urdfdom/2.3.4.bcr.1/overlay/MODULE.bazel
new file mode 100644
index 00000000000..e0536ce90ae
--- /dev/null
+++ b/modules/urdfdom/2.3.4.bcr.1/overlay/MODULE.bazel
@@ -0,0 +1,11 @@
+module(
+    name = "urdfdom",
+    version = "2.3.4.bcr.1",
+    compatibility_level = 0,
+    bazel_compatibility = [">=7.2.1"],
+)
+
+bazel_dep(name = "rules_cc", version = "0.1.1")
+bazel_dep(name = "console_bridge", version = "1.0.1")
+bazel_dep(name = "urdfdom_headers", version = "1.0.5")
+bazel_dep(name = "tinyxml", version = "2.6.2.bcr.1")
diff --git a/modules/urdfdom/2.3.4.bcr.1/presubmit.yml b/modules/urdfdom/2.3.4.bcr.1/presubmit.yml
new file mode 100644
index 00000000000..cb4211bde81
--- /dev/null
+++ b/modules/urdfdom/2.3.4.bcr.1/presubmit.yml
@@ -0,0 +1,18 @@
+matrix:
+  platform:
+  - debian10
+  - debian11
+  - ubuntu2204
+  - ubuntu2404
+  bazel:
+  - 8.x
+  - 7.x
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+      - '@urdfdom'
+      - '@urdfdom//:urdf_to_graphiz'
+      - '@urdfdom//:check_urdf'
diff --git a/modules/urdfdom/2.3.4.bcr.1/source.json b/modules/urdfdom/2.3.4.bcr.1/source.json
new file mode 100644
index 00000000000..6d74fc64590
--- /dev/null
+++ b/modules/urdfdom/2.3.4.bcr.1/source.json
@@ -0,0 +1,10 @@
+{
+    "url": "https://github.com/ros/urdfdom/archive/refs/tags/2.3.4.tar.gz",
+    "integrity": "sha256-UGAcFxsiQy2DSfXiKRZS5UI0R4lSXfZ9NKG6Ufx57tM=",
+    "strip_prefix": "urdfdom-2.3.4",
+    "patch_strip": 0,
+    "overlay": {
+        "BUILD.bazel": "sha256-FKEK8HkTmGo0o3ztzRKLWsWxfaWr/fFszX164aqyKlg=",
+        "MODULE.bazel": "sha256-b2jp+5EyZ+FiNhzNfojsJDf22TLZjQ8XfUazqCyZ4Qs="
+    }
+}
diff --git a/modules/urdfdom/metadata.json b/modules/urdfdom/metadata.json
index 57263ea1655..9a48a0accb2 100644
--- a/modules/urdfdom/metadata.json
+++ b/modules/urdfdom/metadata.json
@@ -11,7 +11,8 @@
         "github:ros/urdfdom"
     ],
     "versions": [
-        "2.3.4"
+        "2.3.4",
+        "2.3.4.bcr.1"
     ],
     "yanked_versions": {}
 }