diff --git a/simulator/Cargo.toml b/simulator/Cargo.toml
index 2949409..d4904cd 100644
--- a/simulator/Cargo.toml
+++ b/simulator/Cargo.toml
@@ -11,4 +11,5 @@ log = "0.4"
 env_logger = "0.11.8"
 bytemuck = "1.23.0"
 wgpu = "25.0"
-pollster = "0.4.0"
\ No newline at end of file
+pollster = "0.4.0"
+cgmath = "0.18.0"
\ No newline at end of file
diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index b2d913c..eefe249 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -1,6 +1,7 @@
 use std::cmp::max;
 use std::sync::Arc;
-
+use cgmath::num_traits::ToPrimitive;
+use cgmath::Rotation3;
 use pollster::FutureExt;
 use wgpu::util::DeviceExt;
 use wgpu::{Adapter, Device, Instance, PresentMode, Queue, Surface, SurfaceCapabilities};
@@ -17,6 +18,39 @@ pub async fn run() {
     let _ = event_loop.run_app(&mut window_state);
 }
 
+struct RenderInstance {
+    position: cgmath::Vector3<f32>,
+    rotation: cgmath::Quaternion<f32>,
+}
+
+impl RenderInstance {
+    fn to_raw(&self) -> InstanceRaw {
+        let model = cgmath::Matrix4::from_translation(self.position) * cgmath::Matrix4::from(self.rotation);
+        InstanceRaw { model: model.into() }
+    }
+}
+
+#[repr(C)]
+#[derive(Copy, Clone, bytemuck::Pod, bytemuck::Zeroable)]
+struct InstanceRaw {
+    model: [[f32; 4]; 4],
+}
+
+impl InstanceRaw {
+    fn desc() -> wgpu::VertexBufferLayout<'static> {
+        wgpu::VertexBufferLayout {
+            array_stride: size_of::<InstanceRaw>() as wgpu::BufferAddress,
+            step_mode: wgpu::VertexStepMode::Instance,
+            attributes: &[
+                wgpu::VertexAttribute { offset: 0, shader_location: 5, format: wgpu::VertexFormat::Float32x4 },
+                wgpu::VertexAttribute { offset: size_of::<[f32; 4]>() as wgpu::BufferAddress, shader_location: 6, format: wgpu::VertexFormat::Float32x4 },
+                wgpu::VertexAttribute { offset: size_of::<[f32; 8]>() as wgpu::BufferAddress, shader_location: 7, format: wgpu::VertexFormat::Float32x4 },
+                wgpu::VertexAttribute { offset: size_of::<[f32; 12]>() as wgpu::BufferAddress, shader_location: 8, format: wgpu::VertexFormat::Float32x4 },
+            ],
+        }
+    }
+}
+
 #[repr(C)]
 #[derive(Copy, Clone, Debug, bytemuck::Pod, bytemuck::Zeroable)]
 struct Vertex {
@@ -115,6 +149,9 @@ struct State<'a> {
     vertex_buffer: wgpu::Buffer,
     index_buffer: wgpu::Buffer,
 
+    instances: Vec<RenderInstance>,
+    instance_buffer: wgpu::Buffer,
+
     num_vertices: u32,
     num_indices: u32,
 }
@@ -138,6 +175,23 @@ impl<'a> State<'a> {
         let num_vertices = VERTICES.len() as u32;
         let num_indices = INDICES.len() as u32;
 
+        let instances = vec![
+            RenderInstance {
+                position: cgmath::Vector3::new(0.0, 0.0, 0.0),
+                rotation: cgmath::Quaternion::from_angle_z(cgmath::Deg(0.0)),
+            },
+            RenderInstance {
+                position: cgmath::Vector3::new(1.0, 1.0, 0.0),
+                rotation: cgmath::Quaternion::from_angle_z(cgmath::Deg(45.0)),
+            },
+        ];
+        let instance_data: Vec<InstanceRaw> = instances.iter().map(RenderInstance::to_raw).collect();
+        let instance_buffer = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
+            label: Some("Instance Buffer"),
+            contents: bytemuck::cast_slice(&instance_data),
+            usage: wgpu::BufferUsages::VERTEX,
+        });
+
         Self {
             surface,
             device,
@@ -149,6 +203,9 @@ impl<'a> State<'a> {
             render_pipeline,
             vertex_buffer,
             index_buffer,
+
+            instances,
+            instance_buffer,
             
             num_vertices,
             num_indices,
@@ -202,7 +259,7 @@ impl<'a> State<'a> {
             vertex: wgpu::VertexState {
                 module: &shader,
                 entry_point: Some("vs_main"),
-                buffers: &[Vertex::desc()],
+                buffers: &[Vertex::desc(), InstanceRaw::desc()],
                 compilation_options: Default::default(),
             },
             fragment: Some(wgpu::FragmentState {
@@ -326,8 +383,9 @@ impl<'a> State<'a> {
             
             render_pass.set_pipeline(&self.render_pipeline);
             render_pass.set_vertex_buffer(0, self.vertex_buffer.slice(..));
+            render_pass.set_vertex_buffer(1, self.instance_buffer.slice(..));
             render_pass.set_index_buffer(self.index_buffer.slice(..), wgpu::IndexFormat::Uint16);
-            render_pass.draw_indexed(0..self.num_indices, 0, 0..1);
+            render_pass.draw_indexed(0..self.num_indices, 0, 0..self.instances.len() as u32);
         }
 
         self.queue.submit(std::iter::once(encoder.finish()));
diff --git a/simulator/src/shader.wgsl b/simulator/src/shader.wgsl
index 04fd28b..e97d14b 100644
--- a/simulator/src/shader.wgsl
+++ b/simulator/src/shader.wgsl
@@ -3,31 +3,33 @@ struct VertexInput {
     @location(1) color: vec3<f32>,
 };
 
-struct VertexOutput {
-    @builtin(position) clip_position: vec4<f32>,
+struct InstanceInput {
+    @location(5) model_row0: vec4<f32>,
+    @location(6) model_row1: vec4<f32>,
+    @location(7) model_row2: vec4<f32>,
+    @location(8) model_row3: vec4<f32>,
+};
+
+struct VSOutput {
+    @builtin(position) position: vec4<f32>,
     @location(0) color: vec3<f32>,
 };
 
 @vertex
-fn vs_main(
-    model: VertexInput,
-) -> VertexOutput {
-    var out: VertexOutput;
-    out.color = model.color;
-    out.clip_position = vec4<f32>(model.position, 1.0);
+fn vs_main(vertex: VertexInput, instance: InstanceInput) -> VSOutput {
+    var out: VSOutput;
+    let model = mat4x4<f32>(
+        instance.model_row0,
+        instance.model_row1,
+        instance.model_row2,
+        instance.model_row3
+    );
+    out.position = model * vec4<f32>(vertex.position, 1.0);
+    out.color = vertex.color;
     return out;
 }
 
-fn srgb_to_linear(c: f32) -> f32 {
-    return pow((c + 0.055) / 1.055, 2.4);
-}
-
 @fragment
-fn fs_main(in: VertexOutput) -> @location(0) vec4<f32> {
-    let linear_color = vec3<f32>(
-        srgb_to_linear(in.color.r),
-        srgb_to_linear(in.color.g),
-        srgb_to_linear(in.color.b),
-    );
-    return vec4<f32>(linear_color, 1.0);
-}
+fn fs_main(input: VSOutput) -> @location(0) vec4<f32> {
+    return vec4<f32>(input.color, 1.0);
+}
\ No newline at end of file