diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf b/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
index 8df4d8d103..3f80bb1c31 100644
--- a/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
@@ -4,10 +4,9 @@
     <static>true</static>
     <pose>0 0 0 0 0 0</pose>
 
-    <link name="cyberzoo_link">
-      <pose>-5 -5 0.01 0 0 0</pose>
-      
+    <link name="cyberzoo_link">      
       <visual name="floor">
+        <pose>-5 -5 0.01 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -15,16 +14,9 @@
           </mesh>
         </geometry>
       </visual>
-      <collision name="floor">
-        <pose>5 5 -0.005 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>10 10 0.01</size>
-          </box>
-        </geometry>
-      </collision>
       
       <visual name="poles">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -42,6 +34,7 @@
         </meta>
       </visual>
       <visual name="wires">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -53,6 +46,7 @@
         </meta>
       </visual>
       <visual name="cams">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -64,6 +58,7 @@
         </meta>
       </visual>
       <visual name="lighting">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -75,6 +70,7 @@
         </meta>
       </visual>
       <visual name="glow">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -93,6 +89,7 @@
       </visual>
       
       <visual name="walls">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -104,6 +101,7 @@
         </meta>
       </visual>
       <visual name="net">
+        <pose>-5 -5 0 0 0 0</pose>
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
@@ -120,6 +118,47 @@
           <layer>1</layer>
         </meta>
       </visual>
+      
+      <visual name="surroundings">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <mesh>
+            <uri>model://cyberzoo/cyberzoo_surroundings.dae</uri>
+          </mesh>
+        </geometry>
+        <meta>
+          <layer>2</layer>
+        </meta>
+      </visual>
+      <visual name="toolcart">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <mesh>
+            <uri>model://cyberzoo/cyberzoo_toolcart.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://cyberzoo/cyberzoo_toolcart</uri>
+            <name>Cyberzoo/Toolcart</name>
+          </script>
+        </material>
+        <meta>
+          <layer>2</layer>
+        </meta>
+      </visual>
+      
+      <visual name="outer_walls">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <mesh>
+            <uri>model://cyberzoo/cyberzoo_outer_walls.dae</uri>
+          </mesh>
+        </geometry>
+        <meta>
+          <layer>3</layer>
+        </meta>
+      </visual>
     </link>
 
   </model>
diff --git a/conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_outer_walls.dae
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls.dae
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_outer_walls.dae
diff --git a/conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls/ceiling.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_outer_walls/ceiling.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls/ceiling.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_outer_walls/ceiling.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls/wall.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_outer_walls/wall.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls/wall.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_outer_walls/wall.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings.dae
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.dae
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings.dae
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/balcony_fence.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/balcony_fence.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/balcony_fence.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/balcony_fence.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/cabinets.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/cabinets.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/cabinets.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/cabinets.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/ceiling.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/ceiling.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/ceiling.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/ceiling.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/curtains.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/curtains.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/curtains.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/curtains.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/curtains2.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/curtains2.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/curtains2.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/curtains2.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/floor.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/floor.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/floor.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/floor.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/pathway.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/pathway.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/pathway.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/pathway.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/press.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/press.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/press.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/press.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/press_block.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/press_block.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/press_block.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/press_block.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/press_block_side.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/press_block_side.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/press_block_side.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/press_block_side.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/red_cart.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/red_cart.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/red_cart.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/red_cart.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/shelves.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/shelves.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/shelves.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/shelves.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/table.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/table.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/table.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/table.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/wall.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/wall.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/wall.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/wall.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_box.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/white_box.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_box.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/white_box.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_brick.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/white_brick.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_brick.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/white_brick.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/workshop_door.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/workshop_door.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/workshop_door.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_surroundings/workshop_door.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_toolcart.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_toolcart.dae
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_toolcart.dae
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_toolcart.dae
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_toolcart/cyberzoo_toolcart.material b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_toolcart/cyberzoo_toolcart.material
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_toolcart/cyberzoo_toolcart.material
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_toolcart/cyberzoo_toolcart.material
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_toolcart/toolcart_transparent.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_toolcart/toolcart_transparent.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_toolcart/toolcart_transparent.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_toolcart/toolcart_transparent.png
diff --git a/conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls.sdf b/conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls.sdf
deleted file mode 100644
index 09a355e21e..0000000000
--- a/conf/simulator/gazebo/models/cyberzoo_outer_walls/cyberzoo_outer_walls.sdf
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.4'>
-  <model name="cyberzoo_outer_walls">
-    <static>true</static>
-    <pose>0 0 0 0 0 0</pose>
-
-    <link name="cyberzoo_outer_walls">
-      <pose>0 0 0 0 0 0</pose>
-      <visual name="walls">
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <mesh>
-            <uri>model://cyberzoo_outer_walls/cyberzoo_outer_walls.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/cyberzoo_outer_walls/model.config b/conf/simulator/gazebo/models/cyberzoo_outer_walls/model.config
deleted file mode 100644
index 2718d01be4..0000000000
--- a/conf/simulator/gazebo/models/cyberzoo_outer_walls/model.config
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Cyberzoo outer walls</name>
-  <version>1.0</version>
-  <sdf version='1.6'>cyberzoo_outer_walls.sdf</sdf>
-
-  <author>
-   <name>Tom van Dijk</name>
-   <email>tomvand@users.noreply.github.com</email>
-  </author>
-
-  <description>
-    Outer walls of the TU Delft airplane hall
-  </description>
-</model>
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.sdf b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.sdf
deleted file mode 100644
index 7f227355cb..0000000000
--- a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.sdf
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.4'>
-  <model name="cyberzoo_surroundings">
-    <static>true</static>
-    <pose>0 0 0 0 0 0</pose>
-
-    <link name="cyberzoo_surroundings">
-      <pose>0 0 0 0 0 0</pose>
-      <visual name="surroundings">
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <mesh>
-            <uri>model://cyberzoo_surroundings/cyberzoo_surroundings.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      
-      <visual name="toolcart">
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <mesh>
-            <uri>model://cyberzoo_surroundings/cyberzoo_toolcart.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://cyberzoo_surroundings/cyberzoo_toolcart</uri>
-            <name>Cyberzoo/Toolcart</name>
-          </script>
-        </material>
-      </visual>
-    </link>
-
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/model.config b/conf/simulator/gazebo/models/cyberzoo_surroundings/model.config
deleted file mode 100644
index 0e4c3b875e..0000000000
--- a/conf/simulator/gazebo/models/cyberzoo_surroundings/model.config
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Cyberzoo environment</name>
-  <version>1.0</version>
-  <sdf version='1.6'>cyberzoo_surroundings.sdf</sdf>
-
-  <author>
-   <name>Tom van Dijk</name>
-   <email>tomvand@users.noreply.github.com</email>
-  </author>
-
-  <description>
-    Environment surrounding the TU Delft Cyberzoo
-  </description>
-</model>
\ No newline at end of file
diff --git a/conf/simulator/gazebo/world/cyberzoo.world b/conf/simulator/gazebo/world/cyberzoo.world
index 1d50f29ec9..7a2c9cda10 100644
--- a/conf/simulator/gazebo/world/cyberzoo.world
+++ b/conf/simulator/gazebo/world/cyberzoo.world
@@ -39,13 +39,5 @@
       <uri>model://cyberzoo</uri>
       <pose>0 0 0 0 0 0.454</pose>
     </include>
-    <include>
-      <uri>model://cyberzoo_surroundings</uri>
-      <pose>0 0 0 0 0 0.454</pose>
-    </include>
-    <include>
-      <uri>model://cyberzoo_outer_walls</uri>
-      <pose>0 0 0 0 0 0.454</pose>
-    </include>
   </world>
 </sdf>
diff --git a/conf/simulator/gazebo/world/cyberzoo_orange_poles.world b/conf/simulator/gazebo/world/cyberzoo_orange_poles.world
index 304801abdc..2d884ff6a2 100644
--- a/conf/simulator/gazebo/world/cyberzoo_orange_poles.world
+++ b/conf/simulator/gazebo/world/cyberzoo_orange_poles.world
@@ -39,14 +39,6 @@
       <uri>model://cyberzoo</uri>
       <pose>0 0 0 0 0 0.454</pose>
     </include>
-    <include>
-      <uri>model://cyberzoo_surroundings</uri>
-      <pose>0 0 0 0 0 0.454</pose>
-    </include>
-    <include>
-      <uri>model://cyberzoo_outer_walls</uri>
-      <pose>0 0 0 0 0 0.454</pose>
-    </include>
     
     <include>
       <uri>model://orange_pole</uri>