diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf b/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
index 7da532621f..8df4d8d103 100644
--- a/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
@@ -6,14 +6,24 @@
 
     <link name="cyberzoo_link">
       <pose>-5 -5 0.01 0 0 0</pose>
-      <visual name="solid">
+      
+      <visual name="floor">
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
-            <uri>model://cyberzoo/cyberzoo_solid.dae</uri>
+            <uri>model://cyberzoo/cyberzoo_floor.dae</uri>
           </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">
         <cast_shadows>false</cast_shadows>
         <geometry>
@@ -27,20 +37,31 @@
             <name>Cyberzoo/Poles</name>
           </script>
         </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
       </visual>
-      <visual name="net">
+      <visual name="wires">
         <cast_shadows>false</cast_shadows>
         <geometry>
           <mesh>
-            <uri>model://cyberzoo/cyberzoo_net.dae</uri>
+            <uri>model://cyberzoo/cyberzoo_wires.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <uri>model://cyberzoo/cyberzoo_net</uri>
-            <name>Cyberzoo/Net</name>
-          </script>
-        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <visual name="cams">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <mesh>
+            <uri>model://cyberzoo/cyberzoo_cams.dae</uri>
+          </mesh>
+        </geometry>
+        <meta>
+          <layer>0</layer>
+        </meta>
       </visual>
       <visual name="lighting">
         <cast_shadows>false</cast_shadows>
@@ -49,6 +70,9 @@
             <uri>model://cyberzoo/cyberzoo_lighting.dae</uri>
           </mesh>
         </geometry>
+        <meta>
+          <layer>0</layer>
+        </meta>
       </visual>
       <visual name="glow">
         <cast_shadows>false</cast_shadows>
@@ -63,16 +87,39 @@
             <name>Cyberzoo/Glow</name>
           </script>
         </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
       </visual>
       
-      <collision name="floor">
-        <pose>5 5 -0.005 0 0 0</pose>
+      <visual name="walls">
+        <cast_shadows>false</cast_shadows>
         <geometry>
-          <box>
-            <size>10 10 0.01</size>
-          </box>
+          <mesh>
+            <uri>model://cyberzoo/cyberzoo_walls.dae</uri>
+          </mesh>
         </geometry>
-      </collision>
+        <meta>
+          <layer>1</layer>
+        </meta>
+      </visual>
+      <visual name="net">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <mesh>
+            <uri>model://cyberzoo/cyberzoo_net.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://cyberzoo/cyberzoo_net</uri>
+            <name>Cyberzoo/Net</name>
+          </script>
+        </material>
+        <meta>
+          <layer>1</layer>
+        </meta>
+      </visual>
     </link>
 
   </model>
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_cams.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_cams.dae
new file mode 100644
index 0000000000..50405069fe
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_cams.dae
@@ -0,0 +1,1634 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 17.2.2555</authoring_tool>
+        </contributor>
+        <created>2018-02-01T13:35:45Z</created>
+        <modified>2018-02-01T13:35:45Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>60</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <node name="skp_camera_Last_Saved_SketchUp_View">
+                    <matrix>0.8133409 0.2517638 -0.5244917 -47.07239 -0.5817873 0.3519668 -0.7332413 -185.3715 0 0.9015178 0.432742 372.7598 0 0 0 1</matrix>
+                    <instance_camera url="#ID1" />
+                </node>
+                <node id="ID3" name="instance_0">
+                    <matrix>1 0 0 7.05058 0 1 0 5.996288 0 0 1 0 0 0 0 1</matrix>
+                    <node id="ID4" name="instance_1">
+                        <matrix>1 0 0 189.1426 0 1 0 369.6661 0 0 1 273.878 0 0 0 1</matrix>
+                        <instance_geometry url="#ID5">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID6">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID18">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID19">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID26">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID28">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                    </node>
+                    <node id="ID34" name="instance_2">
+                        <matrix>-0.7071068 -0.7071068 -2.954049e-31 15.04979 0.7071068 -0.7071068 7.131705e-31 11.24801 -7.131705e-31 2.954049e-31 1 273.878 0 0 0 1</matrix>
+                        <instance_geometry url="#ID35">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID6">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID43">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID19">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID49">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID28">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                    </node>
+                    <node id="ID55" name="instance_3">
+                        <matrix>-3.747003e-16 -1 0 9.933534 1 -3.747003e-16 0 125.4964 0 0 1 273.878 0 0 0 1</matrix>
+                        <instance_geometry url="#ID56">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID6">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID64">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID19">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID70">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID28">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                    </node>
+                    <node id="ID76" name="instance_4">
+                        <matrix>-7.829549e-16 -0.9063078 0.4226183 135.9178 1 -1.443879e-17 1.821665e-15 187.302 -1.644887e-15 0.4226183 0.9063078 263.7795 0 0 0 1</matrix>
+                        <instance_geometry url="#ID77">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID6">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID85">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID19">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID91">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID28">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                    </node>
+                    <node id="ID97" name="instance_5">
+                        <matrix>0.7071068 0.7071068 -2.954049e-31 364.6725 -0.7071068 0.7071068 -1.223607e-31 369.6661 1.223607e-31 2.954049e-31 1 273.878 0 0 0 1</matrix>
+                        <instance_geometry url="#ID98">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID6">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID106">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID19">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID112">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID28">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                    </node>
+                    <node id="ID118" name="instance_6">
+                        <matrix>-3.885781e-16 1 0 368.3516 -1 -3.885781e-16 0 123.5279 0 0 1 273.878 0 0 0 1</matrix>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID6">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID127">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID19">
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+                                </technique_common>
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+                                    </instance_material>
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+                            <bind_material>
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+                                </technique_common>
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+                                    </instance_material>
+                                </technique_common>
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+                    </node>
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+                                </technique_common>
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+                                </technique_common>
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+    </library_visual_scenes>
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+                    <technique_common>
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+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
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+                    <technique_common>
+                        <accessor count="4" source="#ID16" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
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+                    </technique_common>
+                </source>
+                <source id="ID14">
+                    <float_array id="ID17" count="8">2.220446e-16 2.55677e-15 1 2.509112e-15 1 1 3.330669e-16 1</float_array>
+                    <technique_common>
+                        <accessor count="4" source="#ID17" stride="2">
+                            <param name="S" type="float" />
+                            <param name="T" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID13">
+                    <input semantic="POSITION" source="#ID11" />
+                    <input semantic="NORMAL" source="#ID12" />
+                </vertices>
+                <polylist count="1" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID13" />
+                    <input offset="1" semantic="TEXCOORD" source="#ID14" />
+                    <vcount>4</vcount>
+                    <p>0 0 1 1 2 2 3 3</p>
+                </polylist>
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+        </geometry>
+        <geometry id="ID18">
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diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/optitrack.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_cams/optitrack.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/optitrack.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_cams/optitrack.png
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor.dae
new file mode 100644
index 0000000000..9f83738f8b
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor.dae
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diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/grass_black.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor/grass_black.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/grass_black.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor/grass_black.png
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/grass_blue.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor/grass_blue.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/grass_blue.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor/grass_blue.png
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/grass_green.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor/grass_green.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/grass_green.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_floor/grass_green.png
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid.dae
deleted file mode 100644
index 06c85155e4..0000000000
--- a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid.dae
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diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls.dae
new file mode 100644
index 0000000000..5e04c4282c
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls.dae
@@ -0,0 +1,208 @@
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diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/ceiling.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls/ceiling.png
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rename from conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/ceiling.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls/ceiling.png
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/wall_curtains.png b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls/wall_curtains.png
similarity index 100%
rename from conf/simulator/gazebo/models/cyberzoo/cyberzoo_solid/wall_curtains.png
rename to conf/simulator/gazebo/models/cyberzoo/cyberzoo_walls/wall_curtains.png
diff --git a/conf/simulator/gazebo/models/cyberzoo/cyberzoo_wires.dae b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_wires.dae
new file mode 100644
index 0000000000..707e980a81
--- /dev/null
+++ b/conf/simulator/gazebo/models/cyberzoo/cyberzoo_wires.dae
@@ -0,0 +1,337 @@
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