diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39cf4ce..655de58 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 
 
-install(DIRECTORY launch urdf config world
+install(DIRECTORY launch urdf config world assets
 DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
@@ -26,5 +26,7 @@ if(BUILD_TESTING)
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
 
 ament_package()
diff --git a/assets/shildik/meshes/shildik_sh.dae b/assets/shildik/meshes/shildik_sh.dae
new file mode 100644
index 0000000..3106369
--- /dev/null
+++ b/assets/shildik/meshes/shildik_sh.dae
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.1.1 commit date:2024-04-15, commit time:15:11, hash:e1743a0317bc</authoring_tool>
+    </contributor>
+    <created>2025-02-12T10:55:51</created>
+    <modified>2025-02-12T10:55:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="nasosnaya_ustanovka_svg-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01 0.01 0.01 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="nasosnaya_ustanovka_svg-material" name="nasosnaya_ustanovka.svg">
+      <instance_effect url="#nasosnaya_ustanovka_svg-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="shildik-mesh" name="shildik">
+      <mesh>
+        <source id="shildik-mesh-positions">
+          <float_array id="shildik-mesh-positions-array" count="54">-0.02999997 -0.01999998 0 -0.02999997 -0.01999998 5e-4 -0.02999997 0.01999998 0 -0.02999997 0.01999998 5e-4 0.02999997 -0.01999998 0 0.02999997 -0.01999998 5e-4 0.02999997 0.01999998 0 0.02999997 0.01999998 5e-4 -0.02999997 0 0 -0.02999997 0 5e-4 0 0.01999998 0 0 0.01999998 5e-4 0.02999997 0 0 0.02999997 0 5e-4 0 -0.01999998 0 0 -0.01999998 5e-4 0 0 5e-4 0 0 0</float_array>
+          <technique_common>
+            <accessor source="#shildik-mesh-positions-array" count="18" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="shildik-mesh-normals">
+          <float_array id="shildik-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#shildik-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="shildik-mesh-map-0">
+          <float_array id="shildik-mesh-map-0-array" count="192">0.4997459 0.9128418 0.001953125 0.9003906 0.4997459 0.9003906 0.7485352 0.9455567 0.001953125 0.9331055 0.7485352 0.9331055 0.4997359 0.9167481 0.9975586 0.9291992 0.4997359 0.9291992 0.001953125 0.9821777 0.7485352 0.9946289 0.001953125 0.9946289 0.001953125 0.8964844 0.2495018 0.6816406 0.2495018 0.8964844 0.001953065 0.3339793 0.5 0.001953065 0.5 0.3339793 0.5 0.3339793 0.9980469 0.001953125 0.9980468 0.3339793 0.5 0.6660156 0.9980468 0.3339793 0.9980469 0.6660156 0.001953125 0.6660156 0.5 0.3339793 0.5 0.6660156 0.2495018 0.8964844 0.4970703 0.6816406 0.4970703 0.8964844 0.7485352 0.8964844 0.9960938 0.6816406 0.9960938 0.8964844 0.5009766 0.8964844 0.7485352 0.6816406 0.7485352 0.8964844 0.001953125 0.9494629 0.7485352 0.9619141 0.001953125 0.9619141 0.001953125 0.9167481 0.4997359 0.9291992 0.001953125 0.9291992 0.7485352 0.9782715 0.001953125 0.9658203 0.7485352 0.9658203 0.9975586 0.9128418 0.4997459 0.9003906 0.9975586 0.9003906 0.4997459 0.9128418 0.001953125 0.9128418 0.001953125 0.9003906 0.7485352 0.9455567 0.001953125 0.9455567 0.001953125 0.9331055 0.4997359 0.9167481 0.9975586 0.9167481 0.9975586 0.9291992 0.001953125 0.9821777 0.7485352 0.9821777 0.7485352 0.9946289 0.001953125 0.8964844 0.001953125 0.6816406 0.2495018 0.6816406 0.001953065 0.3339793 0.001953125 0.001953125 0.5 0.001953065 0.5 0.3339793 0.5 0.001953065 0.9980469 0.001953125 0.5 0.6660156 0.5 0.3339793 0.9980468 0.3339793 0.001953125 0.6660156 0.001953065 0.3339793 0.5 0.3339793 0.2495018 0.8964844 0.2495018 0.6816406 0.4970703 0.6816406 0.7485352 0.8964844 0.7485352 0.6816406 0.9960938 0.6816406 0.5009766 0.8964844 0.5009766 0.6816406 0.7485352 0.6816406 0.001953125 0.9494629 0.7485352 0.9494629 0.7485352 0.9619141 0.001953125 0.9167481 0.4997359 0.9167481 0.4997359 0.9291992 0.7485352 0.9782715 0.001953125 0.9782715 0.001953125 0.9658203 0.9975586 0.9128418 0.4997459 0.9128418 0.4997459 0.9003906</float_array>
+          <technique_common>
+            <accessor source="#shildik-mesh-map-0-array" count="96" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="shildik-mesh-vertices">
+          <input semantic="POSITION" source="#shildik-mesh-positions"/>
+        </vertices>
+        <triangles material="nasosnaya_ustanovka_svg-material" count="32">
+          <input semantic="VERTEX" source="#shildik-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#shildik-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#shildik-mesh-map-0" offset="2" set="0"/>
+          <p>9 0 0 2 0 1 8 0 2 11 1 3 6 1 4 10 1 5 13 2 6 4 2 7 12 2 8 15 3 9 0 3 10 14 3 11 12 4 12 14 4 13 17 4 14 9 5 15 15 5 16 16 5 17 16 5 18 5 5 19 13 5 20 11 5 21 13 5 22 7 5 23 3 5 24 16 5 25 11 5 26 17 4 27 0 4 28 8 4 29 10 4 30 8 4 31 2 4 32 6 4 33 17 4 34 10 4 35 5 3 36 14 3 37 4 3 38 7 2 39 12 2 40 6 2 41 3 1 42 10 1 43 2 1 44 1 0 45 8 0 46 0 0 47 9 0 48 3 0 49 2 0 50 11 1 51 7 1 52 6 1 53 13 2 54 5 2 55 4 2 56 15 3 57 1 3 58 0 3 59 12 4 60 4 4 61 14 4 62 9 5 63 1 5 64 15 5 65 16 5 66 15 5 67 5 5 68 11 5 69 16 5 70 13 5 71 3 5 72 9 5 73 16 5 74 17 4 75 14 4 76 0 4 77 10 4 78 17 4 79 8 4 80 6 4 81 12 4 82 17 4 83 5 3 84 15 3 85 14 3 86 7 2 87 13 2 88 12 2 89 3 1 90 11 1 91 10 1 92 1 0 93 9 0 94 8 0 95</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="shildik_sh" name="shildik_sh" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#shildik-mesh" name="shildik_sh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="nasosnaya_ustanovka_svg-material" target="#nasosnaya_ustanovka_svg-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/assets/shildik/model.config b/assets/shildik/model.config
new file mode 100644
index 0000000..c56f9b0
--- /dev/null
+++ b/assets/shildik/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>shildik</name>
+  <version>0.1</version>
+  <sdf version='1.10'>model.sdf</sdf>
+
+  <author>
+    <name>Bill Finger</name>
+    <email>ur.narmak@gmail.com</email>
+  </author>
+
+  <description>
+    Empty
+  </description>
+</model>
diff --git a/assets/shildik/model.sdf b/assets/shildik/model.sdf
new file mode 100644
index 0000000..84c495a
--- /dev/null
+++ b/assets/shildik/model.sdf
@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<sdf version="1.10">
+  <model name="shildik">
+    <link name="shildik_link">
+      <visual name="shildik_visual">
+        <geometry>
+          <mesh>
+            <uri>model://shildik/meshes/shildik_sh.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <ambient>1 1 1 1</ambient>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <texture>
+            <diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map>
+          </texture>
+          <pbr>
+            <metal>
+              <albedo_map>model://shildik/textures/shildik_sh_d.png</albedo_map>
+              <normal_map>model://shildik/textures/shildik_sh_n.png</normal_map>
+              <roughness_map>model://shildik/textures/shildik_sh_r.png</roughness_map>
+              <metalness_map>model://shildik/textures/shildik_sh_m.png</metalness_map>
+              <ambient_occlusion_map>model://shildik/textures/shildik_sh_o.png</ambient_occlusion_map>
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <collision name="shildik_collision">
+        <geometry>
+          <box>
+            <size>0.06 0.04 0.001</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode />
+          </contact>
+          <bounce />
+          <friction>
+            <ode />
+          </friction>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/assets/shildik/textures/shildik_sh.png b/assets/shildik/textures/shildik_sh.png
new file mode 100644
index 0000000..1c150ec
Binary files /dev/null and b/assets/shildik/textures/shildik_sh.png differ
diff --git a/assets/shildik/textures/shildik_sh_d.png b/assets/shildik/textures/shildik_sh_d.png
new file mode 100644
index 0000000..fb3710d
Binary files /dev/null and b/assets/shildik/textures/shildik_sh_d.png differ
diff --git a/assets/shildik/textures/shildik_sh_m.png b/assets/shildik/textures/shildik_sh_m.png
new file mode 100644
index 0000000..955eb91
Binary files /dev/null and b/assets/shildik/textures/shildik_sh_m.png differ
diff --git a/assets/shildik/textures/shildik_sh_n.png b/assets/shildik/textures/shildik_sh_n.png
new file mode 100644
index 0000000..a00450d
Binary files /dev/null and b/assets/shildik/textures/shildik_sh_n.png differ
diff --git a/assets/shildik/textures/shildik_sh_o.png b/assets/shildik/textures/shildik_sh_o.png
new file mode 100644
index 0000000..85e6dc2
Binary files /dev/null and b/assets/shildik/textures/shildik_sh_o.png differ
diff --git a/assets/shildik/textures/shildik_sh_r.png b/assets/shildik/textures/shildik_sh_r.png
new file mode 100644
index 0000000..3467f83
Binary files /dev/null and b/assets/shildik/textures/shildik_sh_r.png differ
diff --git a/hooks/rbs_mill_assist.dsv.in b/hooks/rbs_mill_assist.dsv.in
new file mode 100644
index 0000000..0df3d89
--- /dev/null
+++ b/hooks/rbs_mill_assist.dsv.in
@@ -0,0 +1,3 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/world
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/assets
+prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib/@PROJECT_NAME@/
diff --git a/hooks/rbs_mill_assist.sh.in b/hooks/rbs_mill_assist.sh.in
new file mode 100644
index 0000000..6447d1b
--- /dev/null
+++ b/hooks/rbs_mill_assist.sh.in
@@ -0,0 +1,3 @@
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/world"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/assets"
+ament_prepend_unique_value GZ_SIM_PLUGIN_PATH "$AMENT_CURRENT_PREFIX/lib/@PROJECT_NAME@"
diff --git a/world/default.sdf b/world/default.sdf
index de0f31c..30caa97 100644
--- a/world/default.sdf
+++ b/world/default.sdf
@@ -41,6 +41,11 @@
       </attenuation>
       <direction>-0.5 0.1 -0.9</direction>
     </light>
+    
+    <include>
+      <pose>-0.3 0.0 0 0 0 0</pose>
+      <uri>model://shildik</uri>
+    </include>
 
     <!-- <model name="ground_plane"> -->
     <!--   <static>true</static> -->