diff --git a/data/meshes/slalom_debris.stl b/data/meshes/slalom_debris.stl
new file mode 100644
index 0000000000000000000000000000000000000000..777ac85bb38aeb4a1951583035d696e6cb3cbf2b
Binary files /dev/null and b/data/meshes/slalom_debris.stl differ
diff --git a/data/srdf/slalom_debris.srdf b/data/srdf/slalom_debris.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..37d32dbb29e59a15f61b6531bacbfac1ee28aca0
--- /dev/null
+++ b/data/srdf/slalom_debris.srdf
@@ -0,0 +1,19 @@
+<robot name="chair">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/slalom_debris.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://hpp-rbprm-corba/meshes/slalom_debris.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/urdf/slalom_debris.urdf b/data/urdf/slalom_debris.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..37d32dbb29e59a15f61b6531bacbfac1ee28aca0
--- /dev/null
+++ b/data/urdf/slalom_debris.urdf
@@ -0,0 +1,19 @@
+<robot name="chair">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/slalom_debris.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://hpp-rbprm-corba/meshes/slalom_debris.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>