diff --git a/data/srdf/anymal_LFleg_rom.srdf b/data/srdf/anymal_LFleg_rom.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e619ca12fd4b345c688f9c9cb55b16fcd74131d
--- /dev/null
+++ b/data/srdf/anymal_LFleg_rom.srdf
@@ -0,0 +1,19 @@
+<robot name="anymal_LFleg_rom">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/LFleg_vN_Rom.stl"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/LFleg_vN_Rom.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/srdf/anymal_LHleg_rom.srdf b/data/srdf/anymal_LHleg_rom.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..017ba7979aa09b814fa0d2d86e7f7a8222db8848
--- /dev/null
+++ b/data/srdf/anymal_LHleg_rom.srdf
@@ -0,0 +1,19 @@
+<robot name="anymal_LHleg_rom">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/LHleg_vN_Rom.stl"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/LHleg_vN_Rom.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/srdf/anymal_RFleg_rom.srdf b/data/srdf/anymal_RFleg_rom.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..86bb22ad1328cd23c85d0b5924c2f66b2220980b
--- /dev/null
+++ b/data/srdf/anymal_RFleg_rom.srdf
@@ -0,0 +1,19 @@
+<robot name="anymal_RFleg_rom">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/RFleg_vN_Rom.stl"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/RFleg_vN_Rom.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/srdf/anymal_RHleg_rom.srdf b/data/srdf/anymal_RHleg_rom.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d5a54ffa49154f8ff0743d4bc6c3669683aa399
--- /dev/null
+++ b/data/srdf/anymal_RHleg_rom.srdf
@@ -0,0 +1,19 @@
+<robot name="anymal_RHleg_rom">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/RHleg_vN_Rom.stl"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/RHleg_vN_Rom.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/srdf/anymal_trunk.srdf b/data/srdf/anymal_trunk.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb0ed9faa1ccd3eead0c95f01c76c4793562458e
--- /dev/null
+++ b/data/srdf/anymal_trunk.srdf
@@ -0,0 +1,28 @@
+<robot name="anymal_all">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/anymal_all_visual.dae"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <!--visual>
+      <origin xyz="0 0 -0.05" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/anymal_trunk.stl"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual-->
+    <collision>
+      <origin xyz="0 0 -0.05" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://anymal-rbprm/meshes/anymal_trunk.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>