diff --git a/data/meshes/floor_bauzil_obstacles.stl b/data/meshes/floor_bauzil_obstacles.stl
new file mode 100644
index 0000000000000000000000000000000000000000..dcd63c27e72d10152f1c5ca1f1d46aa2256ea260
Binary files /dev/null and b/data/meshes/floor_bauzil_obstacles.stl differ
diff --git a/data/srdf/floor_bauzil.srdf b/data/srdf/floor_bauzil.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..4c41314d332189d4bf792ee4d5854c879943192f
--- /dev/null
+++ b/data/srdf/floor_bauzil.srdf
@@ -0,0 +1,19 @@
+<robot name="stair_bauzil">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil.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/floor_bauzil.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/srdf/floor_bauzil_obstacles.srdf b/data/srdf/floor_bauzil_obstacles.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..459cc63ab5b1a7243fe721f303bc2c1cf4de92eb
--- /dev/null
+++ b/data/srdf/floor_bauzil_obstacles.srdf
@@ -0,0 +1,19 @@
+<robot name="stair_bauzil">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil_obstacles.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/floor_bauzil_obstacles.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/urdf/floor_bauzil.urdf b/data/urdf/floor_bauzil.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..4c41314d332189d4bf792ee4d5854c879943192f
--- /dev/null
+++ b/data/urdf/floor_bauzil.urdf
@@ -0,0 +1,19 @@
+<robot name="stair_bauzil">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil.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/floor_bauzil.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/urdf/floor_bauzil_obstacles.urdf b/data/urdf/floor_bauzil_obstacles.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..459cc63ab5b1a7243fe721f303bc2c1cf4de92eb
--- /dev/null
+++ b/data/urdf/floor_bauzil_obstacles.urdf
@@ -0,0 +1,19 @@
+<robot name="stair_bauzil">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil_obstacles.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/floor_bauzil_obstacles.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>