diff --git a/conf/simulator/gazebo/models/cyberzoo2/cyberzoo.sdf b/conf/simulator/gazebo/models/cyberzoo2/cyberzoo.sdf
index e097c28559..b563593609 100644
--- a/conf/simulator/gazebo/models/cyberzoo2/cyberzoo.sdf
+++ b/conf/simulator/gazebo/models/cyberzoo2/cyberzoo.sdf
@@ -15,7 +15,7 @@
- false
+ false
model://cyberzoo2/cyberzoo_poles.dae
@@ -29,7 +29,7 @@
- false
+ false
model://cyberzoo2/cyberzoo_net.dae
@@ -43,7 +43,7 @@
- false
+ false
model://cyberzoo2/cyberzoo_lighting.dae
@@ -51,7 +51,7 @@
- false
+ false
model://cyberzoo2/cyberzoo_lighting_glow.dae
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.dae b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.dae
new file mode 100755
index 0000000000..5ab4a3aef4
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.dae
@@ -0,0 +1,810 @@
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diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.sdf b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.sdf
new file mode 100644
index 0000000000..91b6a2e368
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings.sdf
@@ -0,0 +1,20 @@
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+
+
+
\ No newline at end of file
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/balcony_fence.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/balcony_fence.png
new file mode 100755
index 0000000000..3fecf55ef8
Binary files /dev/null and b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/balcony_fence.png differ
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/curtains.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/curtains.png
new file mode 100755
index 0000000000..17cd7add33
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diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/shelves.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/shelves.png
new file mode 100755
index 0000000000..f4a6423e4e
Binary files /dev/null and b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/shelves.png differ
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/wall.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/wall.png
new file mode 100755
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diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_box.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_box.png
new file mode 100755
index 0000000000..9435fe53eb
Binary files /dev/null and b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_box.png differ
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_brick.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/white_brick.png
new file mode 100755
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diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/workshop_door.png b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/workshop_door.png
new file mode 100755
index 0000000000..e3c3b2d4c1
Binary files /dev/null and b/conf/simulator/gazebo/models/cyberzoo_surroundings/cyberzoo_surroundings/workshop_door.png differ
diff --git a/conf/simulator/gazebo/models/cyberzoo_surroundings/model.config b/conf/simulator/gazebo/models/cyberzoo_surroundings/model.config
new file mode 100644
index 0000000000..0e4c3b875e
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo_surroundings/model.config
@@ -0,0 +1,15 @@
+
+
+ Cyberzoo environment
+ 1.0
+ cyberzoo_surroundings.sdf
+
+
+ Tom van Dijk
+ tomvand@users.noreply.github.com
+
+
+
+ Environment surrounding the TU Delft Cyberzoo
+
+
\ No newline at end of file