<robot name="floor">
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/hrp2/floor.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://hpp_environments/meshes/hrp2/floor.dae"/>
      </geometry>
    </collision>
  </link>
</robot>
