commit e8c73b6101c9d6ebacdf71690dceaebf1f671381
Author: Marcin <marcin@intoxicatedreptile.xyz>
Date:   Thu May 28 11:37:19 2026 +0200

    Init

diff --git a/corn_field2.sdf b/corn_field2.sdf
new file mode 100644
index 0000000..3fb7865
--- /dev/null
+++ b/corn_field2.sdf
@@ -0,0 +1,282 @@
+<sdf version='1.10'>
+  <world name='corn_field_wide'>
+    <physics name='1ms' type='ignored'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    
+    <gravity>0 0 -9.8</gravity>
+    
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+      <sky>
+        <clouds>
+      <speed>0.6</speed> </clouds>
+     </sky>
+    </scene>
+
+    <model name='ground_plane'>
+      <static>true</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>false</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.2 0.15 0.1 1</ambient>
+            <diffuse>0.25 0.18 0.12 1</diffuse>
+            <specular>0 0 0 1</specular> </material>
+        </visual>
+      </link>
+    </model>
+    <include>
+      <name>C_0_0</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>0.02 -0.02 0 0 0 0.44</pose>
+    </include>
+    <include>
+      <name>C_0_1</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>0.65 0.03 0 0 0 1.57</pose>
+    </include>
+    <include>
+      <name>C_0_2</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.31 -0.01 0 0 0 3.12</pose>
+    </include>
+    <include>
+      <name>C_0_3</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.98 0.04 0 0 0 4.89</pose>
+    </include>
+    <include>
+      <name>C_0_4</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>2.62 -0.03 0 0 0 0.12</pose>
+    </include>
+    <include>
+      <name>C_0_5</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.25 0.01 0 0 0 2.33</pose>
+    </include>
+    <include>
+      <name>C_0_6</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.91 -0.02 0 0 0 5.67</pose>
+    </include>
+    <include>
+      <name>C_0_7</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>4.55 0.04 0 0 0 1.11</pose>
+    </include>
+    <include>
+      <name>C_0_8</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.21 -0.01 0 0 0 3.88</pose>
+    </include>
+    <include>
+      <name>C_0_9</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.85 0.02 0 0 0 2.44</pose>
+    </include>
+
+    <include>
+      <name>C_1_0</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>-0.05 1.58 0 0 0 6.12</pose>
+    </include>
+    <include>
+      <name>C_1_1</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>0.62 1.64 0 0 0 0.88</pose>
+    </include>
+    <include>
+      <name>C_1_2</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.28 1.59 0 0 0 2.55</pose>
+    </include>
+    <include>
+      <name>C_1_3</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.92 1.62 0 0 0 4.12</pose>
+    </include>
+    <include>
+      <name>C_1_4</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>2.58 1.57 0 0 0 0.33</pose>
+    </include>
+    <include>
+      <name>C_1_5</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.21 1.65 0 0 0 1.99</pose>
+    </include>
+    <include>
+      <name>C_1_6</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.88 1.60 0 0 0 3.44</pose>
+    </include>
+    <include>
+      <name>C_1_7</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>4.52 1.63 0 0 0 5.21</pose>
+    </include>
+    <include>
+      <name>C_1_8</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.18 1.58 0 0 0 0.77</pose>
+    </include>
+    <include>
+      <name>C_1_9</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.81 1.61 0 0 0 2.15</pose>
+    </include>
+
+    <include>
+      <name>C_2_0</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>0.08 3.18 0 0 0 1.33</pose>
+    </include>
+    <include>
+      <name>C_2_1</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>0.71 3.24 0 0 0 4.21</pose>
+    </include>
+    <include>
+      <name>C_2_2</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.35 3.19 0 0 0 0.55</pose>
+    </include>
+    <include>
+      <name>C_2_3</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.99 3.22 0 0 0 2.88</pose>
+    </include>
+    <include>
+      <name>C_2_4</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>2.65 3.17 0 0 0 5.11</pose>
+    </include>
+    <include>
+      <name>C_2_5</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.28 3.25 0 0 0 1.44</pose>
+    </include>
+    <include>
+      <name>C_2_6</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.94 3.20 0 0 0 3.77</pose>
+    </include>
+    <include>
+      <name>C_2_7</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>4.58 3.23 0 0 0 6.01</pose>
+    </include>
+    <include>
+      <name>C_2_8</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.24 3.18 0 0 0 0.92</pose>
+    </include>
+    <include>
+      <name>C_2_9</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.88 3.21 0 0 0 3.33</pose>
+    </include>
+
+    <include>
+      <name>C_3_0</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>-0.03 4.78 0 0 0 2.45</pose>
+    </include>
+    <include>
+      <name>C_3_1</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>0.62 4.84 0 0 0 5.12</pose>
+    </include>
+    <include>
+      <name>C_3_2</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.28 4.79 0 0 0 0.15</pose>
+    </include>
+    <include>
+      <name>C_3_3</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>1.92 4.82 0 0 0 1.88</pose>
+    </include>
+    <include>
+      <name>C_3_4</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>2.58 4.77 0 0 0 4.56</pose>
+    </include>
+    <include>
+      <name>C_3_5</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.21 4.85 0 0 0 0.67</pose>
+    </include>
+    <include>
+      <name>C_3_6</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>3.88 4.80 0 0 0 3.21</pose>
+    </include>
+    <include>
+      <name>C_3_7</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>4.52 4.83 0 0 0 5.44</pose>
+    </include>
+    <include>
+      <name>C_3_8</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.18 4.78 0 0 0 1.22</pose>
+    </include>
+   
+    <include>
+      <name>C_3_9</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.81 4.81 0 0 0 4.01</pose>
+    </include>
+    <include>
+      <name>C_3_9</name>
+      <uri>file://./models/corn.sdf</uri>
+      <pose>5.81 4.81 0 0 0 4.01</pose>
+    </include>
+
+
+    <include>
+      <uri>file://./robot_with_wheels.sdf</uri>
+      <pose>7.81 0 3.3 0 0 4.01</pose>
+    </include>
+
+    <light name='sun' type='directional'>
+      <pose>0 0 10 0 0 0</pose>
+      <cast_shadows>true</cast_shadows>
+      <intensity>1</intensity>
+      <direction>-0.5 0.1 -0.9</direction>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+    </light>
+  </world>
+</sdf>
diff --git a/models/Mud Box/materials/scripts/mud.material b/models/Mud Box/materials/scripts/mud.material
new file mode 100644
index 0000000..bc32164
--- /dev/null
+++ b/models/Mud Box/materials/scripts/mud.material	
@@ -0,0 +1,19 @@
+material vrc/mud
+{
+	technique
+	{
+		pass
+		{
+			ambient 0.5 0.5 0.5 1.0
+			diffuse 0.5 0.5 0.5 1.0
+			specular 0.2 0.2 0.2 1.0 12.5
+
+			texture_unit
+			{
+				texture mud_soft_leaves.png
+				filtering anistropic
+				max_anisotropy 16
+			}
+		}
+	}
+}
diff --git a/models/Mud Box/model-1_4.sdf b/models/Mud Box/model-1_4.sdf
new file mode 100644
index 0000000..f43af41
--- /dev/null
+++ b/models/Mud Box/model-1_4.sdf	
@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<sdf version="1.4">
+  <model name="mud_box">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>8 10 0.2</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual_1">
+        <pose>-2 2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+      <visual name="visual_2">
+        <pose>2 2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+      <visual name="visual_3">
+        <pose>2 -2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+      <visual name="visual_4">
+        <pose>-2 -2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+
+    </link>
+  </model>
+</sdf>
diff --git a/models/Mud Box/model.config b/models/Mud Box/model.config
new file mode 100644
index 0000000..c2bdb91
--- /dev/null
+++ b/models/Mud Box/model.config	
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Mud Box</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Thomas Koletschka</name>
+    <email>thomas.koletschka@gmail.com</email>
+  </author>
+
+  <description>
+    A mud textured plane.
+  </description>
+
+</model>
diff --git a/models/Mud Box/model.sdf b/models/Mud Box/model.sdf
new file mode 100644
index 0000000..0319d01
--- /dev/null
+++ b/models/Mud Box/model.sdf	
@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="mud_box">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>8 10 0.2</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual_1">
+        <pose>-2 2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+      <visual name="visual_2">
+        <pose>2 2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+      <visual name="visual_3">
+        <pose>2 -2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+      <visual name="visual_4">
+        <pose>-2 -2.5 0 0 0 0</pose>
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>4 5 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://mud_box/materials/scripts</uri>
+            <uri>model://mud_box/materials/textures</uri>
+            <name>vrc/mud</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/models/Mud Box/thumbnails/1.png b/models/Mud Box/thumbnails/1.png
new file mode 100644
index 0000000..9dd6d36
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diff --git a/models/Mud Box/thumbnails/2.png b/models/Mud Box/thumbnails/2.png
new file mode 100644
index 0000000..beb6ced
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diff --git a/models/Mud Box/thumbnails/3.png b/models/Mud Box/thumbnails/3.png
new file mode 100644
index 0000000..89e1d7a
Binary files /dev/null and b/models/Mud Box/thumbnails/3.png differ
diff --git a/models/Mud Box/thumbnails/4.png b/models/Mud Box/thumbnails/4.png
new file mode 100644
index 0000000..68e6056
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diff --git a/models/Mud Box/thumbnails/5.png b/models/Mud Box/thumbnails/5.png
new file mode 100644
index 0000000..ccb740d
Binary files /dev/null and b/models/Mud Box/thumbnails/5.png differ
diff --git a/models/corn.sdf b/models/corn.sdf
new file mode 100644
index 0000000..5307b82
--- /dev/null
+++ b/models/corn.sdf
@@ -0,0 +1,23 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+<model name="Corn">
+<static>true</static>
+    <link name="link">
+        <visual name="visual">
+            <geometry>
+                <mesh>
+                    <uri>meshes/scene.gltf</uri>
+                </mesh>
+            </geometry>
+        </visual>
+        <collision name="collision">
+            <geometry>
+                <cylinder>
+                    <radius>0.05</radius>
+                    <length>0.1</length>
+                </cylinder>
+            </geometry>
+        </collision>
+    </link>
+</model>
+</sdf>
\ No newline at end of file
diff --git a/models/meshes/license.txt b/models/meshes/license.txt
new file mode 100644
index 0000000..35e5074
--- /dev/null
+++ b/models/meshes/license.txt
@@ -0,0 +1,11 @@
+Model Information:
+* title:	Corn! Corn! Corn!
+* source:	https://sketchfab.com/3d-models/corn-corn-corn-10187bc37c9e42ef8770b28452ee7cd3
+* author:	Tiia Tuulia (https://sketchfab.com/tiiatuulia)
+
+Model License:
+* license type:	CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)
+* requirements:	Author must be credited. Commercial use is allowed.
+
+If you use this 3D model in your project be sure to copy paste this credit wherever you share it:
+This work is based on "Corn! Corn! Corn!" (https://sketchfab.com/3d-models/corn-corn-corn-10187bc37c9e42ef8770b28452ee7cd3) by Tiia Tuulia (https://sketchfab.com/tiiatuulia) licensed under CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)
\ No newline at end of file
diff --git a/models/meshes/mud_soft_leaves.png b/models/meshes/mud_soft_leaves.png
new file mode 100644
index 0000000..9ca7198
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diff --git a/models/meshes/scene.bin b/models/meshes/scene.bin
new file mode 100644
index 0000000..2d71758
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diff --git a/models/meshes/scene.gltf b/models/meshes/scene.gltf
new file mode 100644
index 0000000..44d91a6
--- /dev/null
+++ b/models/meshes/scene.gltf
@@ -0,0 +1,394 @@
+{
+  "accessors": [
+    {
+      "bufferView": 2,
+      "componentType": 5126,
+      "count": 2029,
+      "max": [
+        10.655570983886719,
+        11.136487007141113,
+        4.473674774169922
+      ],
+      "min": [
+        -11.730097770690918,
+        -8.04345703125,
+        -41.532630920410156
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 24348,
+      "componentType": 5126,
+      "count": 2029,
+      "max": [
+        0.9976066946983337,
+        1.0,
+        0.9962291717529297
+      ],
+      "min": [
+        -0.9968279004096985,
+        -0.994667649269104,
+        -0.990868330001831
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 1,
+      "componentType": 5126,
+      "count": 2029,
+      "max": [
+        0.5003870129585266,
+        0.9281949996948242
+      ],
+      "min": [
+        0.062497999519109726,
+        0.058719001710414886
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "componentType": 5125,
+      "count": 7188,
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 48696,
+      "componentType": 5126,
+      "count": 146,
+      "max": [
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+      "author": "Tiia Tuulia (https://sketchfab.com/tiiatuulia)",
+      "license": "CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)",
+      "source": "https://sketchfab.com/3d-models/corn-corn-corn-10187bc37c9e42ef8770b28452ee7cd3",
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+}
diff --git a/models/meshes/textures/corn_plant__corn_texture_png_baseColor.png b/models/meshes/textures/corn_plant__corn_texture_png_baseColor.png
new file mode 100644
index 0000000..8bf4e14
Binary files /dev/null and b/models/meshes/textures/corn_plant__corn_texture_png_baseColor.png differ
diff --git a/models/model.config b/models/model.config
new file mode 100644
index 0000000..32d4c27
--- /dev/null
+++ b/models/model.config
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Corn</name>
+  <version>1.0</version>
+  <sdf version="1.6">corn.sdf</sdf>
+
+  <description>
+    Corn plant
+  </description>
+
+</model>
\ No newline at end of file
diff --git a/models/models.zip b/models/models.zip
new file mode 100644
index 0000000..7c06965
Binary files /dev/null and b/models/models.zip differ
diff --git a/robot_with_wheels.sdf b/robot_with_wheels.sdf
new file mode 100644
index 0000000..db8984b
--- /dev/null
+++ b/robot_with_wheels.sdf
@@ -0,0 +1,130 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='industrial_robot_with_wheels'>
+    <pose>0 0 3.3 0 0 0</pose>
+    
+    <!-- Kadłub -->
+    <link name='base_link'>
+      <inertial>
+        <mass>150.0</mass>
+        <inertia>
+          <ixx>128.5</ixx><ixy>0</ixy><ixz>0</ixz>
+          <iyy>200.5</iyy><iyz>0</iyz>
+          <izz>328.0</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry><box><size>4.0 3.2 0.2</size></box></geometry>
+      </collision>
+      <visual name='visual'>
+        <geometry><box><size>4.0 3.2 0.2</size></box></geometry>
+        <material><ambient>0.1 0.3 0.6 1</ambient><diffuse>0.1 0.3 0.6 1</diffuse></material>
+      </visual>
+    </link>
+
+    <!-- Funkcja pomocnicza do definicji osi i koła -->
+    <!-- FL (Front Left) -->
+    <link name='axle_fl'>
+      <pose>1.8 1.4 -1.6 0 0 0</pose>
+      <visual name='visual'>
+        <geometry><box><size>0.2 0.2 3.0</size></box></geometry>
+        <material><ambient>0.2 0.2 0.2 1</ambient></material>
+      </visual>
+    </link>
+    <link name='wheel_fl'>
+      <pose>1.8 1.4 -3.1 1.5707 0 0</pose>
+      <collision name='collision'>
+        <geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
+      </collision>
+      <visual name='visual'>
+        <geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
+        <material><ambient>0 0 0 1</ambient><diffuse>0 0 0 1</diffuse></material>
+      </visual>
+    </link>
+
+    <!-- FR (Front Right) -->
+    <link name='axle_fr'>
+      <pose>1.8 -1.4 -1.6 0 0 0</pose>
+      <visual name='visual'>
+        <geometry><box><size>0.2 0.2 3.0</size></box></geometry>
+        <material><ambient>0.2 0.2 0.2 1</ambient></material>
+      </visual>
+    </link>
+    <link name='wheel_fr'>
+      <pose>1.8 -1.4 -3.1 1.5707 0 0</pose>
+      <visual name='visual'>
+        <geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
+        <material><ambient>0 0 0 1</ambient></material>
+      </visual>
+    </link>
+
+    <!-- BL (Back Left) -->
+    <link name='axle_bl'>
+      <pose>-1.8 1.4 -1.6 0 0 0</pose>
+      <visual name='visual'>
+        <geometry><box><size>0.2 0.2 3.0</size></box></geometry>
+        <material><ambient>0.2 0.2 0.2 1</ambient></material>
+      </visual>
+    </link>
+    <link name='wheel_bl'>
+      <pose>-1.8 1.4 -3.1 1.5707 0 0</pose>
+      <visual name='visual'>
+        <geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
+        <material><ambient>0 0 0 1</ambient></material>
+      </visual>
+    </link>
+
+    <!-- BR (Back Right) -->
+    <link name='axle_br'>
+      <pose>-1.8 -1.4 -1.6 0 0 0</pose>
+      <visual name='visual'>
+        <geometry><box><size>0.2 0.2 3.0</size></box></geometry>
+        <material><ambient>0.2 0.2 0.2 1</ambient></material>
+      </visual>
+    </link>
+    <link name='wheel_br'>
+      <pose>-1.8 -1.4 -3.1 1.5707 0 0</pose>
+      <visual name='visual'>
+        <geometry><cylinder><radius>0.2</radius><length>0.1</length></cylinder></geometry>
+        <material><ambient>0 0 0 1</ambient></material>
+      </visual>
+    </link>
+
+    <!-- JOINTS - SKRĘT (Revolute) -->
+    <joint name='steer_fl' type='revolute'>
+      <parent>base_link</parent><child>axle_fl</child>
+      <axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
+    </joint>
+    <joint name='steer_fr' type='revolute'>
+      <parent>base_link</parent><child>axle_fr</child>
+      <axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
+    </joint>
+    <joint name='steer_bl' type='revolute'>
+      <parent>base_link</parent><child>axle_bl</child>
+      <axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
+    </joint>
+    <joint name='steer_br' type='revolute'>
+      <parent>base_link</parent><child>axle_br</child>
+      <axis><xyz>0 0 1</xyz><limit><lower>-0.785</lower><upper>0.785</upper></limit></axis>
+    </joint>
+
+    <!-- JOINTS - NAPĘD/OBRÓT KOŁA (Continuous) -->
+    <joint name='wheel_fl_joint' type='revolute'>
+      <parent>axle_fl</parent><child>wheel_fl</child>
+      <axis><xyz>0 0 1</xyz></axis> <!-- Oś obrotu koła w SDF po rotacji linku -->
+    </joint>
+    <joint name='wheel_fr_joint' type='revolute'>
+      <parent>axle_fr</parent><child>wheel_fr</child>
+      <axis><xyz>0 0 1</xyz></axis>
+    </joint>
+    <joint name='wheel_bl_joint' type='revolute'>
+      <parent>axle_bl</parent><child>wheel_bl</child>
+      <axis><xyz>0 0 1</xyz></axis>
+    </joint>
+    <joint name='wheel_br_joint' type='revolute'>
+      <parent>axle_br</parent><child>wheel_br</child>
+      <axis><xyz>0 0 1</xyz></axis>
+    </joint>
+
+  </model>
+</sdf>