diff --git a/srdf/pyrene.srdf b/srdf/pyrene.srdf
new file mode 120000
index 0000000000000000000000000000000000000000..70c974e500bbb5f6251ff8c8f060ddc6d57d1c4b
--- /dev/null
+++ b/srdf/pyrene.srdf
@@ -0,0 +1 @@
+talos.srdf
\ No newline at end of file
diff --git a/urdf/pyrene.urdf b/urdf/pyrene.urdf
new file mode 120000
index 0000000000000000000000000000000000000000..23aaac66293d24dad83b551ae06e699c03b097df
--- /dev/null
+++ b/urdf/pyrene.urdf
@@ -0,0 +1 @@
+talos_full_v2.urdf
\ No newline at end of file