diff --git a/CMakeLists.txt b/CMakeLists.txt
index f91fd26cab3d308fceb2798efb945809ff367e5c..8fc9377787335c6b3e832e1d1e32f85d6a71bf70 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -316,6 +316,7 @@ install(FILES
   data/meshes/cross_gap2.stl
   data/meshes/floor_bauzil.stl
   data/meshes/floor_bauzil_obstacles.stl
+  data/meshes/bauzil_stairs_noRamp_simplified.stl
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
   )
 
diff --git a/data/meshes/bauzil_stairs.stl b/data/meshes/bauzil_stairs.stl
index ebb8e88027a4c73958dab94f86f2a9b09958bfb7..c75c11b9c75eccda0502c24f645bec841a864c69 100644
Binary files a/data/meshes/bauzil_stairs.stl and b/data/meshes/bauzil_stairs.stl differ
diff --git a/data/meshes/bauzil_stairs_noRamp_simplified.stl b/data/meshes/bauzil_stairs_noRamp_simplified.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0f31c77b46272703594c994fcfed7f09f7b136fc
Binary files /dev/null and b/data/meshes/bauzil_stairs_noRamp_simplified.stl differ
diff --git a/data/urdf/bauzil_stairs.urdf b/data/urdf/bauzil_stairs.urdf
index fae4af72908ae531d578c314c82e30002426a7a5..abf45d1540c8a2cde11af6d50833b6a75fb39c95 100755
--- a/data/urdf/bauzil_stairs.urdf
+++ b/data/urdf/bauzil_stairs.urdf
@@ -12,7 +12,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_walk_stairs.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs_noRamp_simplified.stl"/>
       </geometry>
     </collision>
   </link>