diff --git a/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricCoordinateSystem.h b/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricCoordinateSystem.h
index 3782836170..3ece58158c 100644
--- a/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricCoordinateSystem.h
+++ b/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricCoordinateSystem.h
@@ -29,10 +29,10 @@ class MetricCoordinateSystem: public graphicsUtils::AbstractCoordinateSystem
 {
 	Q_OBJECT
 public:
-	explicit MetricCoordinateSystem(twoDModel::model::SizeUnit *metricSystem,
+	explicit MetricCoordinateSystem(const QSharedPointer<twoDModel::model::SizeUnit> &metricSystem,
 					QObject* parent = nullptr);
 
-	~MetricCoordinateSystem();
+	~MetricCoordinateSystem() override;
 
 	/// Conversе of units of measurement into pixels
 	qreal toPx(const qreal size) const override;
@@ -46,9 +46,7 @@ class MetricCoordinateSystem: public graphicsUtils::AbstractCoordinateSystem
 	/// Converting pixels to QPointF
 	QPointF toUnit(const QPointF &size) const override;
 private:
-	// Doesn't take ownership, ownership is twoDModel::model::Settings.
-	// The lifetime of this object is greater than MetricCoordinateSystem (see Model.h)
-	QPointer<twoDModel::model::SizeUnit> mMetricSystem;
+	QSharedPointer<twoDModel::model::SizeUnit> mMetricSystem;
 };
 
 }
diff --git a/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricSystem.h b/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricSystem.h
index ea86e900ef..1f500a8e23 100644
--- a/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricSystem.h
+++ b/plugins/robots/common/twoDModel/include/twoDModel/engine/model/metricSystem.h
@@ -24,10 +24,8 @@ namespace twoDModel {
 namespace model {
 
 /// Incapsulates size unit settings used by 2D model.
-class TWO_D_MODEL_EXPORT SizeUnit : public QObject
+class TWO_D_MODEL_EXPORT SizeUnit
 {
-	Q_OBJECT
-
 public:
 	/// Possible units of measurement
 	enum class Unit {
@@ -42,6 +40,8 @@ class TWO_D_MODEL_EXPORT SizeUnit : public QObject
 	/// The current pixel value in centimeters
 	qreal pixelsInCm() const;
 
+	twoDModel::model::SizeUnit::Unit unit() const;
+
 	/// Serialize the sizeUnit in the WorldModel
 	void serialize(QDomElement &parent) const;
 
@@ -49,7 +49,7 @@ class TWO_D_MODEL_EXPORT SizeUnit : public QObject
 	void deserialize(const QDomElement &parent);
 
 	/// Set the current unit of measurement
-	void setUnit(twoDModel::model::SizeUnit::Unit unit);
+	void setSizeUnit(twoDModel::model::SizeUnit::Unit unit);
 
 	/// Multiplier for conversion to pixels
 	qreal countFactor() const;
@@ -60,14 +60,9 @@ class TWO_D_MODEL_EXPORT SizeUnit : public QObject
 	/// Get current unit string representation
 	QString toStr() const;
 
-	std::map<QString, Unit> currentValues() const;
-
-	Unit defaultUnit() const;
-
-Q_SIGNALS:
-	/// Emit when the sizeUnit is serialized
-	void sizeUnitChanged(const twoDModel::model::SizeUnit::Unit &unit);
+	static std::map<QString, Unit> currentValues();
 
+	static Unit defaultUnit();
 private:
 	Unit mSizeUnit { Unit::Pixels };
 	qreal mPixelsInCm { twoDModel::pixelsInCm };
diff --git a/plugins/robots/common/twoDModel/include/twoDModel/engine/model/settings.h b/plugins/robots/common/twoDModel/include/twoDModel/engine/model/settings.h
index f08662852c..10ee45062d 100644
--- a/plugins/robots/common/twoDModel/include/twoDModel/engine/model/settings.h
+++ b/plugins/robots/common/twoDModel/include/twoDModel/engine/model/settings.h
@@ -15,7 +15,7 @@
 #pragma once
 
 #include <QtCore/QObject>
-#include "metricSystem.h"
+#include <QSharedPointer>
 #include "twoDModel/twoDModelDeclSpec.h"
 
 class QDomElement;
@@ -23,6 +23,8 @@ class QDomElement;
 namespace twoDModel {
 namespace model {
 
+class SizeUnit;
+
 /// Incapsulates settings used by 2D model.
 class TWO_D_MODEL_EXPORT Settings : public QObject
 {
@@ -37,10 +39,6 @@ class TWO_D_MODEL_EXPORT Settings : public QObject
 	/// Returns true is user wants to add some noise to sensors values.
 	bool realisticSensors() const;
 
-	/// To simplify the already overloaded WorldModel xml,
-	/// it was decided to use a tag in the existing <settings> tag
-	SizeUnit *sizeUnit();
-
 	qreal pixelsInCm() const;
 
 	/// Returns true is user wants to add some noise to motors work.
@@ -56,17 +54,22 @@ class TWO_D_MODEL_EXPORT Settings : public QObject
 
 	void setRealisticMotors(bool set);
 
-	SizeUnit *sizeUnit() const;
+	QSharedPointer<SizeUnit> sizeUnit() const;
 
 Q_SIGNALS:
 	/// Emitted each time when user modifies physical preferences.
 	void physicsChanged(bool isRealistic);
 
+	/// Emit when the sizeUnit is serialized
+	void sizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit);
+
+	void gridSizeChanged(qreal size);
+
 private:
 	bool mRealisticPhysics { false };
 	bool mRealisticSensors { false };
 	bool mRealisticMotors { false };
-	QScopedPointer<SizeUnit> mSizeUnitSystem;
+	QSharedPointer<SizeUnit> mSizeUnitSystem;
 };
 
 }
diff --git a/plugins/robots/common/twoDModel/include/twoDModel/engine/view/twoDModelWidget.h b/plugins/robots/common/twoDModel/include/twoDModel/engine/view/twoDModelWidget.h
index 44ad2a8dca..d804f071ba 100644
--- a/plugins/robots/common/twoDModel/include/twoDModel/engine/view/twoDModelWidget.h
+++ b/plugins/robots/common/twoDModel/include/twoDModel/engine/view/twoDModelWidget.h
@@ -50,6 +50,7 @@ namespace twoDModel {
 namespace model {
 class Model;
 class RobotModel;
+class SizeUnit;
 }
 
 namespace view {
@@ -176,8 +177,7 @@ private Q_SLOTS:
 	void trainingModeChanged(bool enabled);
 
 	void updateUIPhysicsSettings();
-	void updateRobotInfoWidget(const qreal factor, const QString& unitString);
-
+	void updateRobotInfoWidget(const QSharedPointer<twoDModel::model::SizeUnit> &sizeUnit);
 private:
 	enum CursorType
 	{
diff --git a/plugins/robots/common/twoDModel/src/engine/items/colorFieldItem.h b/plugins/robots/common/twoDModel/src/engine/items/colorFieldItem.h
index fbe89313ca..74355f9a50 100644
--- a/plugins/robots/common/twoDModel/src/engine/items/colorFieldItem.h
+++ b/plugins/robots/common/twoDModel/src/engine/items/colorFieldItem.h
@@ -17,10 +17,6 @@
 
 namespace twoDModel {
 
-namespace model {
-class SizeUnit;
-}
-
 namespace items {
 
 class ColorFieldItem: public view::TwoDSceneItem
diff --git a/plugins/robots/common/twoDModel/src/engine/items/imageItem.cpp b/plugins/robots/common/twoDModel/src/engine/items/imageItem.cpp
index 9345ccfd3f..b5ab8e11f4 100644
--- a/plugins/robots/common/twoDModel/src/engine/items/imageItem.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/items/imageItem.cpp
@@ -25,7 +25,7 @@ using namespace qReal;
 using namespace graphicsUtils;
 
 ImageItem::ImageItem(graphicsUtils::AbstractCoordinateSystem *metricSystem,
-		     const QSharedPointer<model::Image> &image, QRect geometry)
+		     const QSharedPointer<model::Image> &image, const QRectF &geometry)
 	: mImage(image)
 {
 	setCoordinateSystem(metricSystem);
@@ -44,7 +44,7 @@ ImageItem::ImageItem(graphicsUtils::AbstractCoordinateSystem *metricSystem,
 
 AbstractItem *ImageItem::clone() const
 {
-	const auto cloned = new ImageItem(coordinateSystem(), mImage, QRect(x1(), y1(), x2() - x1(), y2() - y1()));
+	const auto cloned = new ImageItem(coordinateSystem(), mImage, QRectF(x1(), y1(), x2() - x1(), y2() - y1()));
 	AbstractItem::copyTo(cloned);
 	return cloned;
 }
@@ -90,7 +90,7 @@ QRectF ImageItem::boundingRect() const
 
 QRectF ImageItem::calcNecessaryBoundingRect() const
 {
-	return QRectF(qMin(x1(), x2()), qMin(y1(), y2()), qAbs(x2() - x1()), qAbs(y2() - y1()));
+	return {qMin(x1(), x2()), qMin(y1(), y2()), qAbs(x2() - x1()), qAbs(y2() - y1())};
 }
 
 void ImageItem::drawItem(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
@@ -232,10 +232,10 @@ QRectF ImageItem::deserializeRect(const QString &string) const
 		const auto y = splittedStr[1].toDouble();
 		const auto w = splittedStr[2].toDouble();
 		const auto h = splittedStr[3].toDouble();
-		return QRectF(x, y, w, h);
+		return {x, y, w, h};
 	}
 
-	return QRectF();
+	return {};
 }
 
 void ImageItem::resizeItem(QGraphicsSceneMouseEvent *event)
@@ -250,7 +250,7 @@ void ImageItem::resizeItem(QGraphicsSceneMouseEvent *event)
 		}
 	} else if (dragState() != None) {
 		setFlag(QGraphicsItem::ItemIsMovable, false);
-		const auto gridSize = SettingsManager::value("2dGridCellSize").toInt();
+		const auto gridSize = SettingsManager::value("2dDoubleGridCellSize").toReal();
 		const auto x = alignedCoordinate(event->scenePos().x(), gridSize);
 		const auto y = alignedCoordinate(event->scenePos().y(), gridSize);
 		setXYWithDragState(mapFromScene(x, y));
@@ -261,7 +261,7 @@ void ImageItem::resizeItem(QGraphicsSceneMouseEvent *event)
 		// and align top left corner to grid
 		QRectF itemBoundingRect = calcNecessaryBoundingRect();
 		const auto topLeft = mapToScene(QPointF(itemBoundingRect.left(), itemBoundingRect.top()));
-		const auto gridSize = SettingsManager::value("2dGridCellSize").toInt();
+		const auto gridSize = SettingsManager::value("2dDoubleGridCellSize").toReal();
 		const auto x = alignedCoordinate(topLeft.x(), gridSize);
 		const auto y = alignedCoordinate(topLeft.y(), gridSize);
 		auto delta = QPointF(x, y) - topLeft;
diff --git a/plugins/robots/common/twoDModel/src/engine/items/imageItem.h b/plugins/robots/common/twoDModel/src/engine/items/imageItem.h
index 40544c4528..8565b6d7d9 100644
--- a/plugins/robots/common/twoDModel/src/engine/items/imageItem.h
+++ b/plugins/robots/common/twoDModel/src/engine/items/imageItem.h
@@ -33,7 +33,7 @@ class ImageItem : public graphicsUtils::AbstractItem
 
 public:
 	ImageItem(graphicsUtils::AbstractCoordinateSystem *metricSystem,
-		  const QSharedPointer<model::Image> &image, QRect geometry);
+		  const QSharedPointer<model::Image> &image, const QRectF &geometry);
 
 	AbstractItem *clone() const;
 
@@ -45,7 +45,7 @@ class ImageItem : public graphicsUtils::AbstractItem
 
 	QRectF boundingRect() const override;
 	QRectF calcNecessaryBoundingRect() const override;
-	void drawItem(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override;
+	void drawItem(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget) override;
 	void drawExtractionForItem(QPainter* painter) override;
 	QPainterPath resizeArea() const override;
 	void resizeItem(QGraphicsSceneMouseEvent *event) override;
diff --git a/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp b/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp
index 97262da765..ab24afeefb 100644
--- a/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/items/wallItem.cpp
@@ -51,7 +51,7 @@ WallItem::WallItem(graphicsUtils::AbstractCoordinateSystem *metricSystem,
 
 WallItem *WallItem::clone() const
 {
-	WallItem * const cloned = new WallItem(coordinateSystem(), {x1(), y1()}, {x2(), y2()});
+	auto * const cloned = new WallItem(coordinateSystem(), {x1(), y1()}, {x2(), y2()});
 	AbstractItem::copyTo(cloned);
 	connect(this, &AbstractItem::positionChanged, cloned, &WallItem::recalculateBorders);
 	connect(this, &AbstractItem::x1Changed, cloned, &WallItem::recalculateBorders);
@@ -65,7 +65,7 @@ WallItem *WallItem::clone() const
 
 QAction *WallItem::wallTool()
 {
-	QAction * const result = new QAction(QIcon(":/icons/2d_wall.png"), tr("Wall (W)"), nullptr);
+	auto * const result = new QAction(QIcon(":/icons/2d_wall.png"), tr("Wall (W)"), nullptr);
 	result->setShortcuts({QKeySequence(Qt::Key_W), QKeySequence(Qt::Key_2)});
 	result->setCheckable(true);
 	return result;
@@ -175,8 +175,8 @@ void WallItem::deserialize(const QDomElement &element)
 	setY2(end.y());
 
 	readPenBrush(element);
-	if (pen().widthF()) {
-		mWallWidth = pen().widthF();
+	if (pen().width()) {
+		mWallWidth = pen().width();
 	}
 
 	SolidItem::deserialize(element);
@@ -190,7 +190,8 @@ QPainterPath WallItem::path() const
 
 void WallItem::recalculateBorders()
 {
-	mPath = mLineImpl.shape(mWallWidth, begin().x(), begin().y(), end().x(), end().y());
+	/// TODO: Fix narrowing conversion
+	mPath = mLineImpl.shape(static_cast<int>(mWallWidth), begin().x(), begin().y(), end().x(), end().y());
 }
 
 void WallItem::resizeItem(QGraphicsSceneMouseEvent *event)
@@ -202,7 +203,7 @@ void WallItem::resizeItem(QGraphicsSceneMouseEvent *event)
 		reshapeRectWithShift();
 	} else {
 		if (SettingsManager::value("2dShowGrid").toBool() && event->modifiers() != Qt::ControlModifier) {
-			resizeWithGrid(event, SettingsManager::value("2dGridCellSize").toInt());
+			resizeWithGrid(event, SettingsManager::value("2dDoubleGridCellSize").toReal());
 		} else {
 			if (dragState() == TopLeft || dragState() == BottomRight) {
 				calcResizeItem(event);
@@ -220,7 +221,8 @@ void WallItem::reshapeRectWithShift()
 	const qreal differenceY = qAbs(y2() - y1());
 	const qreal differenceXY = qAbs(differenceX - differenceY);
 	const qreal size = qMax(differenceX, differenceY);
-	const int delta = size / 2;
+	/// TODO: Fix narrowing conversion
+	const int delta = static_cast<int>(size / 2);
 	if (differenceXY > delta) {
 		const qreal corner1X = dragState() == TopLeft ? x2() : x1();
 		const qreal corner1Y = dragState() == TopLeft ? y2() : y1();
@@ -247,7 +249,7 @@ void WallItem::reshapeRectWithShift()
 	}
 }
 
-void WallItem::resizeWithGrid(QGraphicsSceneMouseEvent *event, int indexGrid)
+void WallItem::resizeWithGrid(QGraphicsSceneMouseEvent *event, qreal gridSize)
 {
 	const qreal x = mapFromScene(event->scenePos()).x();
 	const qreal y = mapFromScene(event->scenePos()).y();
@@ -257,31 +259,31 @@ void WallItem::resizeWithGrid(QGraphicsSceneMouseEvent *event, int indexGrid)
 	if (dragState() == TopLeft) {
 		setX1(x);
 		setY1(y);
-		reshapeBeginWithGrid(indexGrid);
+		reshapeBeginWithGrid(gridSize);
 	} else if (dragState() == BottomRight) {
 		setX2(x);
 		setY2(y);
-		reshapeEndWithGrid(indexGrid);
+		reshapeEndWithGrid(gridSize);
 	} else {
 		setPos(mEstimatedPos);
-		moveBy(alignedCoordinate(begin().x(), indexGrid) - begin().x()
-			   , alignedCoordinate(begin().y(), indexGrid) - begin().y());
+		moveBy(alignedCoordinate(begin().x(), gridSize) - begin().x()
+			   , alignedCoordinate(begin().y(), gridSize) - begin().y());
 	}
 }
 
-void WallItem::reshapeEndWithGrid(int indexGrid)
+void WallItem::reshapeEndWithGrid(qreal gridSize)
 {
-	setX2(alignedCoordinate(end().x(), indexGrid) - pos().x());
-	setY2(alignedCoordinate(end().y(), indexGrid) - pos().y());
+	setX2(alignedCoordinate(end().x(), gridSize) - pos().x());
+	setY2(alignedCoordinate(end().y(), gridSize) - pos().y());
 }
 
-void WallItem::reshapeBeginWithGrid(int indexGrid)
+void WallItem::reshapeBeginWithGrid(qreal gridSize)
 {
-	setX1(alignedCoordinate(begin().x(), indexGrid) - pos().x());
-	setY1(alignedCoordinate(begin().y(), indexGrid) - pos().y());
+	setX1(alignedCoordinate(begin().x(), gridSize) - pos().x());
+	setY1(alignedCoordinate(begin().y(), gridSize) - pos().y());
 }
 
-void WallItem::alignTheWall(int indexGrid)
+void WallItem::alignTheWall(qreal indexGrid)
 {
 	reshapeBeginWithGrid(indexGrid);
 	reshapeEndWithGrid(indexGrid);
diff --git a/plugins/robots/common/twoDModel/src/engine/items/wallItem.h b/plugins/robots/common/twoDModel/src/engine/items/wallItem.h
index e71c20e0e0..6775d4ae51 100644
--- a/plugins/robots/common/twoDModel/src/engine/items/wallItem.h
+++ b/plugins/robots/common/twoDModel/src/engine/items/wallItem.h
@@ -58,12 +58,12 @@ class WallItem : public graphicsUtils::AbstractItem, public SolidItem
 
 	QPainterPath path() const;
 
-	void resizeWithGrid(QGraphicsSceneMouseEvent *event, int indexGrid);
+	void resizeWithGrid(QGraphicsSceneMouseEvent *event, qreal gridSize);
 
-	void reshapeEndWithGrid(int indexGrid);
-	void reshapeBeginWithGrid(int indexGrid);
+	void reshapeEndWithGrid(qreal indexGrid);
+	void reshapeBeginWithGrid(qreal indexGrid);
 	void setDraggedEnd(qreal x, qreal y);
-	void alignTheWall(int indexGrid);
+	void alignTheWall(qreal indexGrid);
 
 	QPolygonF collidingPolygon() const override;
 	BodyType bodyType() const override;
@@ -79,7 +79,7 @@ class WallItem : public graphicsUtils::AbstractItem, public SolidItem
 	const QImage mImage;
 
 	QPainterPath mPath;
-	qreal mWallWidth {10};
+	int mWallWidth {10};
 	QPointF mEstimatedPos;
 };
 
diff --git a/plugins/robots/common/twoDModel/src/engine/model/metricCoordinateSystem.cpp b/plugins/robots/common/twoDModel/src/engine/model/metricCoordinateSystem.cpp
index 833baa490a..5c7408b1bb 100644
--- a/plugins/robots/common/twoDModel/src/engine/model/metricCoordinateSystem.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/model/metricCoordinateSystem.cpp
@@ -19,20 +19,18 @@
 using namespace twoDModel::model;
 
 MetricCoordinateSystem::MetricCoordinateSystem(
-		twoDModel::model::SizeUnit *metricSystem,
+		const QSharedPointer<twoDModel::model::SizeUnit> &metricSystem,
 		QObject* parent)
 	: graphicsUtils::AbstractCoordinateSystem(parent)
 	,  mMetricSystem(metricSystem)
 {
 }
 
-MetricCoordinateSystem::~MetricCoordinateSystem()
-{
-}
+MetricCoordinateSystem::~MetricCoordinateSystem() = default;
 
 qreal MetricCoordinateSystem::toPx(const qreal size) const
 {
-	if (mMetricSystem.isNull()) {
+	if (!mMetricSystem) {
 		return size;
 	}
 
@@ -41,7 +39,7 @@ qreal MetricCoordinateSystem::toPx(const qreal size) const
 
 qreal MetricCoordinateSystem::toUnit(const qreal size) const
 {
-	if (mMetricSystem.isNull()) {
+	if (!mMetricSystem) {
 		return size;
 	}
 
diff --git a/plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp b/plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp
index 9b3923fe02..96fdccdc63 100644
--- a/plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp
@@ -13,42 +13,46 @@
  * limitations under the License. */
 
 #include <QtXml/QDomElement>
-
 #include "twoDModel/engine/model/metricSystem.h"
 
 using namespace twoDModel::model;
 
 namespace {
-	/// Translation of a string representation into a unit
-	static SizeUnit::Unit stringToUnit(const QString &unit) {
-		if (unit.isEmpty()) {
-			return SizeUnit::Unit::Pixels;
-		}
-		if (unit == "cm") {
-			return SizeUnit::Unit::Centimeters;
-		}
-		if (unit == "mm") {
-			return SizeUnit::Unit::Millimeters;
-		}
-		if (unit == "m") {
-			return SizeUnit::Unit::Meters;
-		}
+/// Translation of a string representation into a unit
+SizeUnit::Unit stringToUnit(const QString &unit) {
+	if (unit.isEmpty()) {
 		return SizeUnit::Unit::Pixels;
 	}
+	if (unit == "cm") {
+		return SizeUnit::Unit::Centimeters;
+	}
+	if (unit == "mm") {
+		return SizeUnit::Unit::Millimeters;
+	}
+	if (unit == "m") {
+		return SizeUnit::Unit::Meters;
+	}
+	return SizeUnit::Unit::Pixels;
+}
 
-	/// Translation of a unit into a string representation
-	static QString unitToString(SizeUnit::Unit unit) {
-		if (unit == SizeUnit::Unit::Centimeters) {
-			return "cm";
-		}
-		if (unit == SizeUnit::Unit::Millimeters) {
-			return "mm";
-		}
-		if (unit == SizeUnit::Unit::Meters) {
-			return "m";
-		}
-		return {};
+/// Translation of a unit into a string representation
+QString unitToString(SizeUnit::Unit unit) {
+	if (unit == SizeUnit::Unit::Centimeters) {
+		return "cm";
+	}
+	if (unit == SizeUnit::Unit::Millimeters) {
+		return "mm";
 	}
+	if (unit == SizeUnit::Unit::Meters) {
+		return "m";
+	}
+	return {};
+}
+}
+
+SizeUnit::Unit SizeUnit::unit() const
+{
+	return mSizeUnit;
 }
 
 qreal SizeUnit::pixelsInCm() const
@@ -67,14 +71,13 @@ void SizeUnit::serialize(QDomElement &parent) const
 void SizeUnit::deserialize(const QDomElement &parent)
 {
 	if (!parent.isNull()) {
-		setUnit(stringToUnit(parent.attribute("sizeUnit", "")));
+		setSizeUnit(stringToUnit(parent.attribute("sizeUnit", "")));
 	} else {
-		setUnit(defaultUnit());
+		setSizeUnit(defaultUnit());
 	}
-	Q_EMIT sizeUnitChanged(mSizeUnit);
 }
 
-void SizeUnit::setUnit(twoDModel::model::SizeUnit::Unit unit)
+void SizeUnit::setSizeUnit(twoDModel::model::SizeUnit::Unit unit)
 {
 	mSizeUnit = unit;
 }
@@ -110,27 +113,28 @@ qreal SizeUnit::toPx(const qreal size) const
 QString SizeUnit::toStr() const
 {
 	if (mSizeUnit == SizeUnit::Unit::Centimeters) {
-		return tr("cm");
+		return QObject::tr("cm");
 	}
 	if (mSizeUnit == SizeUnit::Unit::Millimeters) {
-		return tr("mm");
+		return QObject::tr("mm");
 	}
 	if (mSizeUnit == SizeUnit::Unit::Meters) {
-		return tr("m");
+		return QObject::tr("m");
 	}
-	return tr("px");
+	return QObject::tr("px");
 }
 
-std::map<QString, SizeUnit::Unit> SizeUnit::currentValues() const
+std::map<QString, SizeUnit::Unit> SizeUnit::currentValues()
 {
 	return {
-		{tr("Pixels"), Unit::Pixels }
-		, {tr("Centimeters"), Unit::Centimeters}
-		, {tr("Meters"), Unit::Meters}
-		, {tr("Millimeters"), Unit::Millimeters}
+		{QObject::tr("Pixels"), Unit::Pixels }
+		, {QObject::tr("Centimeters"), Unit::Centimeters}
+		, {QObject::tr("Meters"), Unit::Meters}
+		, {QObject::tr("Millimeters"), Unit::Millimeters}
 	};
 }
 
-SizeUnit::Unit SizeUnit::defaultUnit() const {
+SizeUnit::Unit SizeUnit::defaultUnit()
+{
 	return Unit::Pixels;
 }
diff --git a/plugins/robots/common/twoDModel/src/engine/model/settings.cpp b/plugins/robots/common/twoDModel/src/engine/model/settings.cpp
index add10634a1..075f549aeb 100644
--- a/plugins/robots/common/twoDModel/src/engine/model/settings.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/model/settings.cpp
@@ -13,16 +13,15 @@
  * limitations under the License. */
 
 #include <QtXml/QDomElement>
-
-#include "twoDModel/engine/model/settings.h"
-
 #include <qrkernel/settingsManager.h>
+#include "twoDModel/engine/model/settings.h"
+#include "twoDModel/engine/model/metricSystem.h"
 
 using namespace twoDModel::model;
 
 Settings::Settings(QObject *parent)
 	: QObject(parent)
-	,  mSizeUnitSystem(new SizeUnit())
+	, mSizeUnitSystem(new SizeUnit())
 {}
 
 bool Settings::realisticPhysics() const
@@ -40,11 +39,6 @@ qreal Settings::pixelsInCm() const
 	return mSizeUnitSystem->pixelsInCm();
 }
 
-SizeUnit *Settings::sizeUnit()
-{
-	return mSizeUnitSystem.data();
-}
-
 bool Settings::realisticMotors() const
 {
 	return mRealisticMotors;
@@ -58,6 +52,9 @@ void Settings::serialize(QDomElement &parent) const
 	result.setAttribute("realisticSensors", mRealisticSensors ? "true" : "false");
 	result.setAttribute("realisticMotors", mRealisticMotors ? "true" : "false");
 	mSizeUnitSystem->serialize(result);
+	const auto currentGridSize = qReal::SettingsManager::value("2dDoubleGridCellSize")
+						.toReal() / mSizeUnitSystem->countFactor();
+	result.setAttribute("gridCellSize", QString::number(currentGridSize));
 }
 
 void Settings::deserialize(const QDomElement &parent)
@@ -67,6 +64,20 @@ void Settings::deserialize(const QDomElement &parent)
 	mRealisticMotors = parent.attribute("realisticMotors") == "true";
 	mSizeUnitSystem->deserialize(parent);
 	Q_EMIT physicsChanged(mRealisticPhysics);
+	Q_EMIT sizeUnitChanged(mSizeUnitSystem);
+	if (parent.hasAttribute("gridCellSize")) {
+		const auto gridSize = parent.attribute("gridCellSize").toDouble();
+		// TODO: Synchronize with GridParamters.h
+		constexpr auto minimalSize = 10;
+		constexpr auto maximumSize = 150;
+		if (mSizeUnitSystem->toPx(gridSize) >= minimalSize
+				&& mSizeUnitSystem->toPx(gridSize) <= maximumSize) {
+			Q_EMIT gridSizeChanged(gridSize);
+			return;
+		}
+	}
+	const auto gridSize = qReal::SettingsManager::value("2dDefaultGridCellSize", "50").toReal();
+	Q_EMIT gridSizeChanged(gridSize);
 }
 
 void Settings::setRealisticPhysics(bool set)
@@ -85,7 +96,7 @@ void Settings::setRealisticMotors(bool set)
 	mRealisticMotors = set;
 }
 
-SizeUnit *Settings::sizeUnit() const
+QSharedPointer<SizeUnit> Settings::sizeUnit() const
 {
-	return mSizeUnitSystem.data();
+	return mSizeUnitSystem;
 }
diff --git a/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp b/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp
index 3b14eec2d8..0d65cceaf4 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp
@@ -13,51 +13,82 @@
  * limitations under the License. */
 
 #include "gridParameters.h"
-
 #include <QtWidgets/QHBoxLayout>
 #include <QtCore/QString>
-
+#include "twoDModel/engine/model/metricSystem.h"
 #include <qrkernel/settingsManager.h>
 
 using namespace twoDModel::view;
 
+namespace {
+	constexpr auto minLE = 10;
+	constexpr auto maxLE = 150;
+	constexpr auto scale = 10000.0f;
+}
+
 GridParameters::GridParameters(QWidget *parent)
 	: QFrame(parent)
 {
-	QHBoxLayout *layout = new QHBoxLayout(this);
-
+	auto *layout = new QHBoxLayout(this);
 	mShowGridCheckBox = new QCheckBox(this);
 	mShowGridCheckBox->setText(tr("Grid"));
 	mShowGridCheckBox->setTristate(false);
-
 	mCellSize = new QSlider(this);
 	mCellSize->setOrientation(Qt::Horizontal);
-	mCellSize->setMinimum(50);
-	mCellSize->setMaximum(200);
-	mCellSize->setTickInterval(10);
+	mCellSize->setMinimum(minLE * scale);
+	mCellSize->setMaximum(maxLE * scale);
+	mCellSize->setSingleStep(0.1 * scale);
+	mCellSize->setPageStep(scale);
 	mCellSize->setEnabled(false);
 
 	layout->addWidget(mShowGridCheckBox);
 	layout->addWidget(mCellSize);
 	layout->setContentsMargins(5, 5, 5, 5);
 
-	connect(mShowGridCheckBox, SIGNAL(toggled(bool)), mCellSize, SLOT(setEnabled(bool)));
-	connect(mShowGridCheckBox, SIGNAL(toggled(bool)), this, SLOT(showGrid(bool)));
-	connect(mCellSize, SIGNAL(valueChanged(int)), this, SLOT(setCellSize(int)));
+	connect(mShowGridCheckBox, &QAbstractButton::toggled, mCellSize, &QWidget::setEnabled);
+	connect(mShowGridCheckBox, &QAbstractButton::toggled, this, &GridParameters::showGrid);
+	connect(mCellSize, &QAbstractSlider::valueChanged, this, &GridParameters::setCellSize);
 
 	const bool showGrid = qReal::SettingsManager::value("2dShowGrid").toBool();
-	const int gridSize = qReal::SettingsManager::value("2dGridCellSize").toInt();
+	const qreal gridSize = qReal::SettingsManager::value("2dDefaultGridCellSize").toReal();
 	mShowGridCheckBox->setChecked(showGrid);
-	mCellSize->setValue(gridSize);
-
+	mCellSize->setValue(qRound(gridSize * scale));
 	setLayout(layout);
 
+	// Bring the slider values closer to the step values (which should ideally be 0.1 of the unit of measurement)
+	connect(mCellSize, &QSlider::sliderMoved, this, [this](int rawValue) {
+		const auto step = mCellSize->singleStep();
+		const auto snapped = qRound(static_cast<double>(rawValue) / step) * step;
+		if (snapped != rawValue) {
+			mCellSize->setValue(snapped);
+		}
+	});
 }
 
-GridParameters::~GridParameters()
+void GridParameters::onSizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit)
 {
+	mSizeUnit = unit;
+	mCellSize->blockSignals(true);
+	const auto factor = unit->countFactor();
+	// We adapt the slider to the coordinate system in such a way as to cover the desired range of values.
+	// Thus, with the selected millimeters, the range will be from 35000 to 525000, which corresponds
+	// to the size of the cell from 35 mm to 525 and allows you to set its size with an accuracy
+	// of a thousandth of a millimeter. mCellSize->setSingleStep(0.1 * scale) means that for the selected system,
+	// the step will be 1000 units. In other words, 0.1 of the selected measurement system
+	mCellSize->setMinimum(qRound((minLE / factor) * scale));
+	mCellSize->setMaximum(qRound((maxLE / factor) * scale));
+	const qreal currentGlobal = qReal::SettingsManager::value("2dDoubleGridCellSize").toReal();
+	mCellSize->setValue(qRound((currentGlobal / factor) * scale));
+	mCellSize->blockSignals(false);
 }
 
+void GridParameters::onGridParametersChangedOutside(qreal newCellSize)
+{
+	mCellSize->setValue(qRound(newCellSize * scale));
+}
+
+GridParameters::~GridParameters() = default;
+
 void GridParameters::showGrid(bool isGridEnabled)
 {
 	qReal::SettingsManager::setValue("2dShowGrid", isGridEnabled);
@@ -66,6 +97,8 @@ void GridParameters::showGrid(bool isGridEnabled)
 
 void GridParameters::setCellSize(int cellSizeValue)
 {
-	qReal::SettingsManager::setValue("2dGridCellSize", cellSizeValue);
+	const auto factor = mSizeUnit ? mSizeUnit->countFactor() : 1.0;
+	const auto unitsValue = static_cast<qreal>(cellSizeValue) * factor / scale;
+	qReal::SettingsManager::setValue("2dDoubleGridCellSize", unitsValue);
 	Q_EMIT parametersChanged();
 }
diff --git a/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.h b/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.h
index 0eb8b5515d..c5ce6c0641 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.h
+++ b/plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.h
@@ -19,6 +19,9 @@
 #include <QtWidgets/QLabel>
 
 namespace twoDModel {
+namespace model {
+class SizeUnit;
+}
 namespace view {
 
 class GridParameters : public QFrame
@@ -27,11 +30,13 @@ class GridParameters : public QFrame
 
 public:
 	explicit GridParameters(QWidget *parent = nullptr);
-	~GridParameters();
+	~GridParameters() override;
 
 public Q_SLOTS:
 	void showGrid(bool isGridEnabled);
 	void setCellSize(int cellSizeValue);
+	void onGridParametersChangedOutside(qreal newCellSize);
+	void onSizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit);
 
 Q_SIGNALS:
 	void parametersChanged();
@@ -39,6 +44,7 @@ public Q_SLOTS:
 private:
 	QSlider *mCellSize;
 	QCheckBox *mShowGridCheckBox;
+	QSharedPointer<twoDModel::model::SizeUnit> mSizeUnit;
 };
 
 }
diff --git a/plugins/robots/common/twoDModel/src/engine/view/parts/gridSizeWidget.cpp b/plugins/robots/common/twoDModel/src/engine/view/parts/gridSizeWidget.cpp
new file mode 100644
index 0000000000..4a3c021337
--- /dev/null
+++ b/plugins/robots/common/twoDModel/src/engine/view/parts/gridSizeWidget.cpp
@@ -0,0 +1,117 @@
+/* Copyright 2026 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include <QHBoxLayout>
+#include <QStackedWidget>
+#include <QDoubleSpinBox>
+#include <QSpinBox>
+#include <qrkernel/settingsManager.h>
+#include "gridSizeWidget.h"
+#include <cmath>
+
+using namespace twoDModel::view;
+
+namespace {
+constexpr auto pixelMinimalValue = 10.0;
+constexpr auto pixelMaximumValue = 150.0;
+}
+
+GridSizeWidget::~GridSizeWidget() = default;
+
+GridSizeWidget::GridSizeWidget(QWidget *parent)
+	: QWidget(parent)
+	, mUnit(nullptr)
+	, mStackedWidget(new QStackedWidget(this))
+{
+	setupUI();
+	createSpinBoxes();
+}
+
+void GridSizeWidget::createSpinBoxes()
+{
+	auto createSpinBoxLambda = [this](qreal step, int decimals,
+				twoDModel::model::SizeUnit::Unit unit) {
+		twoDModel::model::SizeUnit sizeUnit {};
+		sizeUnit.setSizeUnit(unit);
+		auto *spinBox = new QDoubleSpinBox(this);
+		updateValues(spinBox, sizeUnit, step);
+		spinBox->setDecimals(decimals);
+		mSlubSpinBoxes.emplace(unit, spinBox);
+		mStackedWidget->addWidget(spinBox);
+		connect(spinBox, QOverload<qreal>::of(&QDoubleSpinBox::valueChanged),
+						this, &GridSizeWidget::gridSizeChanged);
+	};
+
+	// Create custom Pixels SpinBox
+	createSpinBoxLambda(0.1, 3, twoDModel::model::SizeUnit::Unit::Pixels);
+	// Create custom Millimiter SpinBox
+	createSpinBoxLambda(0.1, 3, twoDModel::model::SizeUnit::Unit::Millimeters);
+	// Create custom Centimeter SpinBox
+	createSpinBoxLambda(0.1, 3, twoDModel::model::SizeUnit::Unit::Centimeters);
+	// Create custom Meter SpinBox
+	createSpinBoxLambda(0.05, 3, twoDModel::model::SizeUnit::Unit::Meters);
+
+	mStackedWidget->setCurrentWidget(mSlubSpinBoxes[twoDModel::model::SizeUnit::defaultUnit()]);
+}
+
+void GridSizeWidget::updateValues(QObject *spinBox,
+				  twoDModel::model::SizeUnit sizeUnit,
+				  qreal step) {
+	const auto displayMin = pixelMinimalValue / sizeUnit.countFactor();
+	const auto displayMax = pixelMaximumValue / sizeUnit.countFactor();
+	spinBox->setProperty("minimum", displayMin);
+	spinBox->setProperty("maximum", displayMax);
+	spinBox->setProperty("suffix", " " +sizeUnit.toStr());
+	spinBox->setProperty("singleStep", step);
+}
+
+void GridSizeWidget::setupUI()
+{
+	auto *layout = new QHBoxLayout(this);
+	layout->setContentsMargins(0, 0, 0, 0);
+	layout->addWidget(mStackedWidget);
+}
+
+qreal GridSizeWidget::countFactor()
+{
+	return mUnit ? mUnit->countFactor() : 1.0f;
+}
+
+void GridSizeWidget::onSizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit)
+{
+	blockSignals(true);
+	mUnit = unit;
+	const auto it = mSlubSpinBoxes.find(mUnit->unit());
+	if (it != mSlubSpinBoxes.end() && it->second != mStackedWidget->currentWidget()) {
+	    mStackedWidget->setCurrentWidget(it->second);
+	    setValue(it->second);
+	}
+	blockSignals(false);
+}
+
+void GridSizeWidget::onGridParameterChanged()
+{
+	blockSignals(true);
+	setValue(mStackedWidget->currentWidget());
+	blockSignals(false);
+}
+
+void GridSizeWidget::setValue(QObject *currentSpinBox)
+{
+	if (!currentSpinBox) {
+		return;
+	}
+	const auto gridSize = qReal::SettingsManager::value("2dDoubleGridCellSize").toReal();
+	currentSpinBox->setProperty("value", gridSize / countFactor());
+}
diff --git a/plugins/robots/common/twoDModel/src/engine/view/parts/gridSizeWidget.h b/plugins/robots/common/twoDModel/src/engine/view/parts/gridSizeWidget.h
new file mode 100644
index 0000000000..cbdaf16c1e
--- /dev/null
+++ b/plugins/robots/common/twoDModel/src/engine/view/parts/gridSizeWidget.h
@@ -0,0 +1,51 @@
+/* Copyright 2025 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#pragma once
+#include <QWidget>
+#include <QSharedPointer>
+#include "twoDModel/engine/model/metricSystem.h"
+#include <unordered_map>
+
+class QStackedWidget;
+
+namespace twoDModel {
+namespace view {
+
+/// A class that represents a set of QDoubleSpinBox's for different units of measurement,
+/// as they may require different sinlgeSterp, suffix, and other parameters.
+class GridSizeWidget : public QWidget
+{
+	Q_OBJECT
+public:
+	explicit GridSizeWidget(QWidget *parent = nullptr);
+	~GridSizeWidget() override;
+public Q_SLOTS:
+	void onSizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit);
+	void onGridParameterChanged();
+Q_SIGNALS:
+	void gridSizeChanged(qreal size);
+private:
+	void setupUI();
+	qreal countFactor();
+	static void updateValues(QObject *spinBox, twoDModel::model::SizeUnit sizeUnit, qreal step);
+	void setValue(QObject *currentSpinBox);
+	void createSpinBoxes();
+	QSharedPointer<twoDModel::model::SizeUnit> mUnit;
+	QStackedWidget *mStackedWidget;
+	std::unordered_map<twoDModel::model::SizeUnit::Unit, QWidget *> mSlubSpinBoxes;
+};
+
+}
+}
diff --git a/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.cpp b/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.cpp
index 000a85a4eb..a8b0fd4787 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.cpp
@@ -13,38 +13,36 @@
  * limitations under the License. */
 
 #include "ruler.h"
-
 #include <QtGui/QPainter>
 #include <QtWidgets/QGraphicsView>
 #include <QtCore/QtMath>
 
 #include <qrkernel/settingsManager.h>
+#include "twoDModel/engine/model/metricSystem.h"
 
 using namespace twoDModel::view;
 
 const qreal gap = 5;  // The gap between the ruler borders and text on it.
-const int frequency = 150;  // The text on the ruler will not be met more often than once per this number of pixels.
+const int frequency = 50;  // The text on the ruler will not be met more often than once per this number of pixels.
 
 Ruler::Ruler(QWidget *parent)
 	: QFrame(parent)
 	, mOrientation(Qt::Horizontal)
-	, mMetricFactor(1.0)
+	, mSizeUnit(nullptr)
 {
 	mFont.setPixelSize(8);
 }
 
-Ruler::~Ruler()
-{
-}
+Ruler::~Ruler() = default;
 
 Qt::Orientation Ruler::orientation() const
 {
 	return mOrientation;
 }
 
-void Ruler::setMetricFactor(const qreal factor)
+void Ruler::onSizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit)
 {
-	mMetricFactor = factor;
+	mSizeUnit = unit;
 }
 
 void Ruler::setOrientation(Qt::Orientation orientation)
@@ -54,9 +52,9 @@ void Ruler::setOrientation(Qt::Orientation orientation)
 	const QString theLongestText = "-123.45";  // The longest text that ruler must place into itself.
 	const QSizeF theLargestSize = textBoundingRect(theLongestText).size();
 	if (orientation == Qt::Horizontal) {
-		setFixedHeight(theLargestSize.height() + 2 * gap);
+		setFixedHeight(static_cast<int>(theLargestSize.height() + 2 * gap));
 	} else {
-		setFixedWidth(theLargestSize.width() + 2 * gap);
+		setFixedWidth(static_cast<int>(theLargestSize.width() + 2 * gap));
 	}
 }
 
@@ -65,25 +63,37 @@ void Ruler::paintEvent(QPaintEvent *event)
 	QFrame::paintEvent(event);
 	QPainter painter(this);
 	painter.setFont(mFont);
-	const int gridSize = qReal::SettingsManager::value("2dGridCellSize").toInt();
-	const int shift = qMax(frequency / gridSize, 1);
-	const QRectF sceneRect = mView->mapToScene(mView->viewport()->geometry()).boundingRect();
-	const int firstCell = qCeil(relevantCoordinate(sceneRect.topLeft())) / gridSize;
-	// This will let us always draw 0 near zero line for more persistent coordinates scrolling.
-	// Without making first cell being multiple of shift the first marker will be always upon the first
-	// line and that looks horrible when user scrolls the scene.
-	const int realFirstCell = firstCell / shift * shift * gridSize;
-	for (int coordinate = realFirstCell
-			; coordinate < relevantCoordinate(sceneRect.bottomRight())
-			; coordinate += shift * gridSize)
-	{
-		const QString text = QString::number(coordinate / mMetricFactor);
-		const QRectF boundingRect = textBoundingRect(text);
-		const qreal relevantPosition = relevantCoordinate(mView->mapFromScene(makePoint(coordinate, 0)));
-		const QPointF position = drawingPoint(relevantPosition, boundingRect.size());
-		const QPointF alignment = makePoint(relevantDimension(boundingRect.size()) / 2, 0);
-
-		painter.drawText(position - boundingRect.topLeft() - alignment, text);
+
+	const auto gridSize = qReal::SettingsManager::value("2dDoubleGridCellSize").toReal();
+	const auto currentCountFactor = countFactor();
+	const auto sceneRect = mView->mapToScene(mView->viewport()->geometry()).boundingRect();
+	const auto startPos = relevantCoordinate(sceneRect.topLeft());
+	const auto endPos = relevantCoordinate(sceneRect.bottomRight());
+
+	const auto zoom = mView->transform().m11();
+	const auto skipCells = qMax(1, qCeil((frequency / zoom) / gridSize));
+	const auto effectiveStep = skipCells * gridSize;
+	const auto startIdx = static_cast<int>(std::floor(startPos / effectiveStep));
+	const auto endIdx = static_cast<int>(std::ceil(endPos / effectiveStep));
+
+	for (int i = startIdx; i <= endIdx; ++i) {
+		const qreal coordinate = i * effectiveStep;
+		QString text = QString::number(coordinate / currentCountFactor, 'f', 3);
+		if (text.contains('.')) {
+			while (text.endsWith('0')) {
+				text.chop(1);
+			}
+			if (text.endsWith('.')) {
+				text.chop(1);
+			}
+		}
+		const auto &boundingRect = textBoundingRect(text);
+		const auto relevantPosition = relevantCoordinate(mView->mapFromScene(makePoint(coordinate, 0)));
+		const auto position = drawingPoint(relevantPosition, boundingRect.size());
+		const auto alignment = makePoint(relevantDimension(boundingRect.size()) / 2, 0);
+		if (relevantPosition >= 0 && relevantPosition <= relevantDimension(this->size())) {
+			painter.drawText(position - boundingRect.topLeft() - alignment, text);
+		}
 	}
 }
 
@@ -92,6 +102,14 @@ qreal Ruler::relevantCoordinate(QPointF point) const
 	return orientation() == Qt::Horizontal ? point.x() : point.y();
 }
 
+qreal Ruler::countFactor() const
+{
+	if (mSizeUnit) {
+		return mSizeUnit->countFactor();
+	}
+	return 1.0f;
+}
+
 qreal Ruler::relevantDimension(QSizeF size) const
 {
 	return orientation() == Qt::Horizontal ? size.width() : size.height();
diff --git a/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.h b/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.h
index b2fc53f3f8..36222aa773 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.h
+++ b/plugins/robots/common/twoDModel/src/engine/view/parts/ruler.h
@@ -19,6 +19,9 @@
 class QGraphicsView;
 
 namespace twoDModel {
+namespace model {
+class SizeUnit;
+}
 namespace view {
 
 /// A widget for displaying distances on grid in centimeters.
@@ -30,7 +33,7 @@ class Ruler : public QFrame
 
 public:
 	explicit Ruler(QWidget *parent = nullptr);
-	~Ruler();
+	~Ruler() override;
 
 	/// Returns the orientation of this ruler.
 	Qt::Orientation orientation() const;
@@ -39,24 +42,22 @@ public Q_SLOTS:
 	/// Returns the orientation of this ruler.
 	void setOrientation(Qt::Orientation orientation);
 
-	/// Reconfigures ruller to calculate distances in other metrics. The distance between grid lines in pixels
-	/// stays the same, but values in centimeters modified
-	void setMetricFactor(const qreal factor);
+	void onSizeUnitChanged(const QSharedPointer<twoDModel::model::SizeUnit> &unit);
 
 	/// Configures this ruller to work with the given graphics view.
 	void setScene(QGraphicsView *scene);
-
 private:
 	void paintEvent(QPaintEvent *event) override;
 
 	qreal relevantCoordinate(QPointF point) const;
+	qreal countFactor() const;
 	qreal relevantDimension(QSizeF size) const;
 	qreal irrelevantDimension(QSizeF size) const;
 	QPointF makePoint(qreal relevantCoordinate, qreal irrelevantCoordinate) const;
 	QPointF drawingPoint(qreal relevantCoordinate, QSizeF textSize) const;
 	QRectF textBoundingRect(const QString &text) const;
 	Qt::Orientation mOrientation;
-	qreal mMetricFactor;
+	QSharedPointer<twoDModel::model::SizeUnit> mSizeUnit;
 	QGraphicsView *mView {};  // Doesn`t take owership
 	QFont mFont;
 };
diff --git a/plugins/robots/common/twoDModel/src/engine/view/scene/twoDModelScene.cpp b/plugins/robots/common/twoDModel/src/engine/view/scene/twoDModelScene.cpp
index ed072d9b9d..7938d54ae1 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/scene/twoDModelScene.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/view/scene/twoDModelScene.cpp
@@ -823,7 +823,7 @@ void TwoDModelScene::drawBackground(QPainter *painter, const QRectF &rect)
 		mWidthOfGrid = SettingsManager::value("GridWidth").toReal() / 100;
 		painter->setPen(QPen(Qt::black, mWidthOfGrid));
 		QGraphicsScene::drawBackground(painter, rect);
-		const int cellSize = SettingsManager::value("2dGridCellSize").toInt();
+		const qreal cellSize = SettingsManager::value("2dDoubleGridCellSize").toReal();
 		mGridDrawer.drawGrid(painter, rect, cellSize);
 		drawAxes(painter);
 	}
@@ -888,9 +888,9 @@ void TwoDModelScene::addImage()
 			, tr("Graphics (*.*)"));
 
 
-	const auto gridSize = SettingsManager::value("2dGridCellSize").toInt();
-	const QPoint step(gridSize, gridSize);
-	QPoint topLeft = mainView()->mapToScene(0,0).toPoint() + step;
+	const auto gridSize = SettingsManager::value("2dDoubleGridCellSize").toReal();
+	const QPointF step(gridSize, gridSize);
+	QPointF topLeft = mainView()->mapToScene(0,0).toPoint() + step;
 
 	for (auto &&loadFileName : loadImages) {
 		if (loadFileName.isEmpty()) {
@@ -915,7 +915,7 @@ void TwoDModelScene::addImage()
 			continue;
 		}
 		mDrawingAction = image;
-		const QRect rect(topLeft, size);
+		const QRectF rect(topLeft, size);
 		QSharedPointer<twoDModel::items::ImageItem> result(new twoDModel::items::ImageItem(
 						&mModel.coordinateMetricSystem(), newImage, rect));
 		result->setMemorize(true);
@@ -1019,8 +1019,8 @@ void TwoDModelScene::reshapeWall(QGraphicsSceneMouseEvent *event)
 		mCurrentWall->setX2(pos.x());
 		mCurrentWall->setY2(pos.y());
 		if (SettingsManager::value("2dShowGrid").toBool()) {
-			mCurrentWall->reshapeBeginWithGrid(SettingsManager::value("2dGridCellSize").toInt());
-			mCurrentWall->reshapeEndWithGrid(SettingsManager::value("2dGridCellSize").toInt());
+			mCurrentWall->reshapeBeginWithGrid(SettingsManager::value("2dDoubleGridCellSize").toReal());
+			mCurrentWall->reshapeEndWithGrid(SettingsManager::value("2dDoubleGridCellSize").toReal());
 		} else {
 			if (event->modifiers() & Qt::ShiftModifier) {
 				mCurrentWall->reshapeRectWithShift();
@@ -1148,7 +1148,7 @@ void TwoDModelScene::alignWalls()
 	if (SettingsManager::value("2dShowGrid").toBool()) {
 		for (auto &&wall : mModel.worldModel().walls()) {
 			if (items().contains(wall.data())) {
-				wall->alignTheWall(SettingsManager::value("2dGridCellSize").toInt());
+				wall->alignTheWall(SettingsManager::value("2dDoubleGridCellSize").toReal());
 			}
 		}
 	}
diff --git a/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp b/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp
index e35bc73778..ec038019f2 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp
+++ b/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp
@@ -57,6 +57,7 @@
 #include "twoDModel/engine/model/constants.h"
 #include "twoDModel/engine/model/twoDModelRobotParameters.h"
 #include "twoDModel/engine/model/model.h"
+#include "twoDModel/engine/model/metricSystem.h"
 
 #include "nullTwoDModelDisplayWidget.h"
 #include <array>
@@ -145,13 +146,13 @@ TwoDModelWidget::TwoDModelWidget(Model &model, QWidget *parent)
 
 	mUi->horizontalRuler->setScene(mUi->graphicsView);
 	mUi->verticalRuler->setScene(mUi->graphicsView);
+	mUi->detailsTab->setParamsSettings(mUi->physicsParamsFrame);
+	mUi->detailsTab->setMetricSettings(mUi->metricFrame);
 
-	auto pixelsInCm = mModel.settings().pixelsInCm();
 	/// @todo: make some values editable
+	auto pixelsInCm = mModel.settings().pixelsInCm();
+	connectMetricComboBoxes();
 
-	mUi->detailsTab->setParamsSettings(mUi->physicsParamsFrame);
-
-	updateRobotInfoWidget(pixelsInCm, tr("cm"));
 	connect(&mModel, &model::Model::robotAdded, this, [this, pixelsInCm](){
 		auto robotModels = mModel.robotModels();
 		auto robotTrack = robotModels.isEmpty() ||
@@ -169,8 +170,10 @@ TwoDModelWidget::~TwoDModelWidget()
 	delete mUi;
 }
 
-void TwoDModelWidget::updateRobotInfoWidget(const qreal factor, const QString& unitString)
+void TwoDModelWidget::updateRobotInfoWidget(const QSharedPointer<SizeUnit> &sizeUnit)
 {
+	const auto unitString = sizeUnit->toStr();
+	const auto factor = sizeUnit->countFactor();
 	mUi->wheelDiamInCm->setValue(robotWheelDiameterInPx / factor);
 	mUi->wheelDiameterUnit->setText(unitString);
 	mUi->wheelDiamInCm->setButtonSymbols(QAbstractSpinBox::NoButtons);
@@ -271,6 +274,12 @@ void TwoDModelWidget::initWidget()
 	connect(mUi->editorModeButton, &QPushButton::toggled,  &*mScene, &TwoDModelScene::onEditorModeToggled);
 	connect(mUi->gridParametersBox, &twoDModel::view::GridParameters::parametersChanged
 			, &*mScene, [&]() { mScene->update(); });
+	connect(&mModel.settings(), &Settings::gridSizeChanged,
+			mUi->gridParametersBox, &GridParameters::onGridParametersChangedOutside);
+	connect(mUi->gridSizeWidget, &GridSizeWidget::gridSizeChanged,
+			mUi->gridParametersBox, &GridParameters::onGridParametersChangedOutside);
+	connect(mUi->gridParametersBox, &twoDModel::view::GridParameters::parametersChanged,
+			mUi->gridSizeWidget, &GridSizeWidget::onGridParameterChanged);
 	connect(mUi->gridParametersBox, &GridParameters::parametersChanged, this, toggleRulers);
 	connect(mUi->gridParametersBox, &twoDModel::view::GridParameters::parametersChanged
 			, mUi->horizontalRuler, [&]() {mUi->horizontalRuler->update(); });
@@ -852,6 +861,7 @@ void TwoDModelWidget::setInteractivityFlags(ReadOnlyFlags flags)
 	mRobotPositionReadOnly = flags.testFlag(ReadOnly::RobotPosition);
 	if (mRobotPositionReadOnly) returnToStartMarker();
 
+	mUi->metricComboBox->setVisible(!worldReadOnly);
 	mScene->setInteractivityFlags(flags);
 }
 
@@ -1084,31 +1094,34 @@ bool TwoDModelWidget::setSelectedValue(QComboBox * const comboBox, const T &port
 
 void TwoDModelWidget::connectMetricComboBoxes()
 {
-	connect(mModel.settings().sizeUnit(), &SizeUnit::sizeUnitChanged
-		, this, [=](SizeUnit::Unit unit) {
-		setSelectedValue(mUi->metricComboBox, unit);
-	});
-
-	connect(mUi->metricComboBox, QOverload<int>::of(&QComboBox::currentIndexChanged)
-		, this, [this](int index) {
-		const auto unitValue = mUi->metricComboBox->itemData(index)
-					.value<SizeUnit::Unit>();
-		const auto sizeUnit = mModel.settings().sizeUnit();
-		sizeUnit->setUnit(unitValue);
-		const auto realValue = sizeUnit->countFactor();
-		mUi->horizontalRuler->setMetricFactor(realValue);
-		mUi->verticalRuler->setMetricFactor(realValue);
-		updateRobotInfoWidget(realValue, sizeUnit->toStr());
-		Q_EMIT mUi->gridParametersBox->parametersChanged();
+	connect(&mModel.settings(), &Settings::sizeUnitChanged, this, [this]
+		(const QSharedPointer<twoDModel::model::SizeUnit> &unit) {
+		setSelectedValue(mUi->metricComboBox, unit->unit());
 	});
 
 	const auto sizeUnit = mModel.settings().sizeUnit();
 	const auto availableUnits = sizeUnit->currentValues();
 	for (auto &&availableUnit : availableUnits) {
-		mUi->metricComboBox->addItem(availableUnit.first,
-			QVariant::fromValue(availableUnit.second));
+		mUi->metricComboBox->addItem(availableUnit.first, QVariant::fromValue(availableUnit.second));
 	}
 
+	auto lambdaOnUnitChanged = [this](const QSharedPointer<SizeUnit> &unit) {
+		mUi->gridParametersBox->onSizeUnitChanged(unit);
+		mUi->gridSizeWidget->onSizeUnitChanged(unit);
+		mUi->horizontalRuler->onSizeUnitChanged(unit);
+		mUi->verticalRuler->onSizeUnitChanged(unit);
+		updateRobotInfoWidget(unit);
+	};
+
+	connect(mUi->metricComboBox,QOverload<int>::of(&QComboBox::currentIndexChanged),
+			this, [this, lambdaOnUnitChanged](int index) {
+		const auto unitValue = mUi->metricComboBox->itemData(index).value<SizeUnit::Unit>();
+		auto sizeUnit = mModel.settings().sizeUnit();
+		sizeUnit->setSizeUnit(unitValue);
+		lambdaOnUnitChanged(sizeUnit);
+		Q_EMIT mUi->gridParametersBox->parametersChanged();
+	});
+
 	setSelectedValue(mUi->metricComboBox, sizeUnit->defaultUnit());
 
 }
@@ -1210,12 +1223,6 @@ void TwoDModelWidget::onRobotListChange(RobotItem *robotItem)
 	}
 }
 
-namespace {
-	bool isTrikModel(const QString &name) {
-		return name.contains("TrikV62");
-	}
-}
-
 void TwoDModelWidget::setSelectedRobotItem(RobotItem *robotItem)
 {
 	mSelectedRobotItem = robotItem;
@@ -1226,16 +1233,6 @@ void TwoDModelWidget::setSelectedRobotItem(RobotItem *robotItem)
 	setPortsGroupBoxAndWheelComboBoxes();
 	updateWheelComboBoxes();
 
-	if (isTrikModel(mSelectedRobotItem->robotModel().info().name())) {
-		mUi->detailsTab->setMetricSettings(mUi->metricFrame);
-		connectMetricComboBoxes();
-		mUi->pixelsInCmDoubleSpinBox->setValue(
-					mModel.settings().pixelsInCm());
-	} else {
-		mUi->detailsTab->setMetricSectionsVisible(false);
-		mUi->metricFrame->hide();
-	}
-
 	mUi->detailsTab->setDisplay(nullptr);
 	mDisplay = mSelectedRobotItem->robotModel().info().displayWidget();
 	mDisplay->setParent(this);
diff --git a/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui b/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui
index 25e178b5f4..3082e0cb8e 100644
--- a/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui
+++ b/plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>988</width>
-    <height>669</height>
+    <height>687</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -434,36 +434,14 @@
                 </widget>
                </item>
                <item>
-                <widget class="QLabel" name="pixelsInCmLabel">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
+                <widget class="QLabel" name="gridSizeLabel">
                  <property name="text">
-                  <string>Pixels in cm:</string>
+                  <string>Grid size:</string>
                  </property>
                 </widget>
                </item>
                <item>
-                <widget class="QDoubleSpinBox" name="pixelsInCmDoubleSpinBox">
-                 <property name="enabled">
-                  <bool>true</bool>
-                 </property>
-                 <property name="readOnly">
-                  <bool>true</bool>
-                 </property>
-                 <property name="decimals">
-                  <number>4</number>
-                 </property>
-                 <property name="maximum">
-                  <double>1000.000000000000000</double>
-                 </property>
-                 <property name="singleStep">
-                  <double>1.000000000000000</double>
-                 </property>
-                </widget>
+                <widget class="twoDModel::view::GridSizeWidget" name="gridSizeWidget" native="true"/>
                </item>
               </layout>
              </widget>
@@ -1006,6 +984,12 @@
    <extends>QDoubleSpinBox</extends>
    <header>src/engine/view/parts/robotInfoSpinBox.h</header>
   </customwidget>
+  <customwidget>
+   <class>twoDModel::view::GridSizeWidget</class>
+   <extends>QWidget</extends>
+   <header>src/engine/view/parts/gridSizeWidget.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../../../../../interpreters/interpreterCore/interpreterCore.qrc"/>
diff --git a/plugins/robots/common/twoDModel/twoDModel.pri b/plugins/robots/common/twoDModel/twoDModel.pri
index 0f7c0b7418..2b578bbf1e 100644
--- a/plugins/robots/common/twoDModel/twoDModel.pri
+++ b/plugins/robots/common/twoDModel/twoDModel.pri
@@ -90,6 +90,7 @@ HEADERS += \
 	$$PWD/src/engine/templates/details/templatesParser.h \
 	$$PWD/src/engine/templates/details/template.h \
 	$$PWD/src/engine/templates/templateParserApi.h \
+	$$PWD/src/engine/view/parts/gridSizeWidget.h \
 	$$PWD/src/engine/constraints/constraintsChecker.h \
 	$$PWD/src/engine/constraints/details/defines.h \
 	$$PWD/src/engine/constraints/details/constraintsParser.h \
@@ -165,6 +166,7 @@ SOURCES += \
 	$$PWD/src/engine/view/parts/robotItemPopup.cpp \
 	$$PWD/src/engine/view/parts/speedPopup.cpp \
 	$$PWD/src/engine/view/parts/ruler.cpp \
+	$$PWD/src/engine/view/parts/gridSizeWidget.cpp \
 	$$PWD/src/engine/model/model.cpp \
 	$$PWD/src/engine/model/metricSystem.cpp \
 	$$PWD/src/engine/model/metricCoordinateSystem.cpp \
diff --git a/plugins/robots/interpreters/interpreterCore/interpreterCoreDefaultSettings.ini b/plugins/robots/interpreters/interpreterCore/interpreterCoreDefaultSettings.ini
index bbf3e4c072..35ab47d1d5 100644
--- a/plugins/robots/interpreters/interpreterCore/interpreterCoreDefaultSettings.ini
+++ b/plugins/robots/interpreters/interpreterCore/interpreterCoreDefaultSettings.ini
@@ -9,7 +9,8 @@ SelectedRobotKit=trikV62Kit
 2dFollowingRobot=true
 2dCursorType=1
 2dShowGrid=true
-2dGridCellSize=50
+2dDoubleGridCellSize=50
+2dDefaultGridCellSize=50
 2dEditorModeEnable=false
 
 approximationLevel=12
diff --git a/qrtranslations/es/plugins/robots/common/twoDModel_es.ts b/qrtranslations/es/plugins/robots/common/twoDModel_es.ts
index 8cb1a541d5..4ea4f572db 100644
--- a/qrtranslations/es/plugins/robots/common/twoDModel_es.ts
+++ b/qrtranslations/es/plugins/robots/common/twoDModel_es.ts
@@ -210,8 +210,48 @@
         <translation>El objeto &quot;%1&quot; no tiene la propiedad &quot;%2&quot;</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="167"/>
-        <source>Recursive template expansion detected: %1 -&gt; %2</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="116"/>
+        <source>cm</source>
+        <translation>cm</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="119"/>
+        <source>mm</source>
+        <translation>mm</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="122"/>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="124"/>
+        <source>px</source>
+        <translation>px</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="130"/>
+        <source>Pixels</source>
+        <translation>Píxeles</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="131"/>
+        <source>Centimeters</source>
+        <translation>Centímetros</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="132"/>
+        <source>Meters</source>
+        <translation>Metros</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="133"/>
+        <source>Millimeters</source>
+        <translation>Milímetros</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="41"/>
+        <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -220,18 +260,18 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="161"/>
-        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="84"/>
+        <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="41"/>
-        <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="161"/>
+        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="84"/>
-        <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="167"/>
+        <source>Recursive template expansion detected: %1 -&gt; %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -354,85 +394,89 @@
         <translation>Unidades del sistema métrico:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="445"/>
         <source>Pixels in cm:</source>
-        <translation>Píxeles por cm:</translation>
+        <translation type="vanished">Píxeles por cm:</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="439"/>
+        <source>Grid size:</source>
+        <translation>Tamaño de cuadrícula:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="483"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="461"/>
         <source>Realistic physics</source>
         <translation>Física realista</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="490"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="468"/>
         <source>Realistic sensors</source>
         <translation>Sensores realistas</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="497"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="475"/>
         <source>Realistic engines</source>
         <translation>Motores realistas</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="556"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="534"/>
         <source>Robot height:</source>
         <translation>Altura del robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="569"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="547"/>
         <source>Robot mass:</source>
         <translation>Masa del robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="582"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="560"/>
         <source>Wheel diameter:</source>
         <translation>Diámetro de la rueda:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="633"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="611"/>
         <source>Robot track:</source>
         <translation>Separación entre ruedas:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="684"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="662"/>
         <source>Robot width:</source>
         <translation>Ancho del robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="691"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="698"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="705"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="719"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="669"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="676"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="683"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="697"/>
         <source>cm</source>
         <translation>cm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="712"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="690"/>
         <source>kg</source>
         <translation>kg</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="775"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="753"/>
         <source>Decrease speed</source>
         <translation>Disminuir velocidad</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="816"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="794"/>
         <source>Time in 2D model</source>
         <translation>Tiempo en el modelo 2D</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="825"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="803"/>
         <source> sec.</source>
         <translation> seg.</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="853"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="831"/>
         <source>Increase speed</source>
         <translation>Aumentar velocidad</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="961"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="939"/>
         <source>px</source>
         <translation>px</translation>
     </message>
@@ -577,44 +621,36 @@
 <context>
     <name>twoDModel::model::SizeUnit</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="113"/>
         <source>cm</source>
-        <translation>cm</translation>
+        <translation type="vanished">cm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="116"/>
         <source>mm</source>
-        <translation>mm</translation>
+        <translation type="vanished">mm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="119"/>
         <source>m</source>
-        <translation>m</translation>
+        <translation type="vanished">m</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="121"/>
         <source>px</source>
-        <translation>px</translation>
+        <translation type="vanished">px</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="127"/>
         <source>Pixels</source>
-        <translation>Píxeles</translation>
+        <translation type="vanished">Píxeles</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="128"/>
         <source>Centimeters</source>
-        <translation>Centímetros</translation>
+        <translation type="vanished">Centímetros</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="129"/>
         <source>Meters</source>
-        <translation>Metros</translation>
+        <translation type="vanished">Metros</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="130"/>
         <source>Millimeters</source>
-        <translation>Milímetros</translation>
+        <translation type="vanished">Milímetros</translation>
     </message>
 </context>
 <context>
@@ -825,7 +861,7 @@
 <context>
     <name>twoDModel::view::GridParameters</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="30"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="34"/>
         <source>Grid</source>
         <translation>Cuadrícula</translation>
     </message>
@@ -953,75 +989,74 @@
 <context>
     <name>twoDModel::view::TwoDModelWidget</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="154"/>
         <source>cm</source>
-        <translation>cm</translation>
+        <translation type="vanished">cm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="184"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="187"/>
         <source>kg</source>
         <translation>kg</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="373"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="382"/>
         <source>Warning</source>
         <translation>Advertencia</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="374"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="383"/>
         <source>Do you really want to clear scene?</source>
         <translation>¿Realmente desea limpiar la escena?</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="484"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="493"/>
         <source>Training mode: solution will not be checked</source>
         <translation>Modo entrenamiento: la solución no será verificada</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="485"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="494"/>
         <source>Checking mode: solution will be checked, errors will be reported</source>
         <translation>Modo verificación: la solución será comprobada, se informará de errores</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="547"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="556"/>
         <source>Saving world and robot model</source>
         <translation>Guardando modelo del mundo y del robot</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="547"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="567"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="592"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="556"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="576"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="601"/>
         <source>2D model saves (*.xml)</source>
         <translation>Guardados del modelo 2D (*.xml)</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="567"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="576"/>
         <source>Loading world and robot model</source>
         <translation>Cargando modelo del mundo y del robot</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="592"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="601"/>
         <source>Loading world without robot model</source>
         <translation>Cargando modelo del mundo sin modelo de robot</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="926"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="936"/>
         <source>Hide details</source>
         <translation>Ocultar detalles</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="926"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="936"/>
         <source>Show details</source>
         <translation>Mostrar detalles</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1132"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1133"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1145"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1146"/>
         <source>No wheel</source>
         <translation>Ausente</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1139"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1152"/>
         <source>%1 (port %2)</source>
         <translation>%1 (puerto %2)</translation>
     </message>
diff --git a/qrtranslations/es/qrutils_es.ts b/qrtranslations/es/qrutils_es.ts
index 3daa694b0f..00b63087e8 100644
--- a/qrtranslations/es/qrutils_es.ts
+++ b/qrtranslations/es/qrutils_es.ts
@@ -69,7 +69,7 @@
         <translation>División entera por cero</translation>
     </message>
     <message>
-        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="626"/>
+        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="627"/>
         <source>Remove</source>
         <translation>Eliminar</translation>
     </message>
diff --git a/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts b/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts
index 3f5e5d33bf..2918ca8020 100644
--- a/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts
+++ b/qrtranslations/fr/plugins/robots/common/twoDModel_fr.ts
@@ -210,32 +210,72 @@
         <translation>Annuler</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="+167"/>
-        <source>Recursive template expansion detected: %1 -&gt; %2</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="+116"/>
+        <source>cm</source>
+        <translation>cm</translation>
+    </message>
+    <message>
+        <location line="+3"/>
+        <source>mm</source>
+        <translation>mm</translation>
+    </message>
+    <message>
+        <location line="+3"/>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <location line="+2"/>
+        <source>px</source>
+        <translation>px</translation>
+    </message>
+    <message>
+        <location line="+6"/>
+        <source>Pixels</source>
+        <translation>Pixels</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Centimeters</source>
+        <translation>Centimètres</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Meters</source>
+        <translation>Mètres</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Millimeters</source>
+        <translation>Millimètres</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="+41"/>
+        <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-116"/>
+        <location line="+10"/>
         <source>Redefinition a template %1 that already exists</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="+110"/>
-        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
+        <location line="+33"/>
+        <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-120"/>
-        <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
+        <location line="+77"/>
+        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="+43"/>
-        <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
+        <location line="+6"/>
+        <source>Recursive template expansion detected: %1 -&gt; %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="+93"/>
+        <location line="+10"/>
         <source>The &amp;lt;use&amp;gt; tag contains a template=%1 attribute that is not the name of a declared template</source>
         <translation type="unfinished"></translation>
     </message>
@@ -347,7 +387,12 @@
         <translation>Arrêter le programme</translation>
     </message>
     <message>
-        <location line="+558"/>
+        <location line="+306"/>
+        <source>Grid size:</source>
+        <translation>Taille de la grille:</translation>
+    </message>
+    <message>
+        <location line="+230"/>
         <location line="+7"/>
         <location line="+7"/>
         <location line="+14"/>
@@ -385,7 +430,7 @@
         <translation>px</translation>
     </message>
     <message>
-        <location line="-577"/>
+        <location line="-555"/>
         <source>Left wheel:</source>
         <translation>Roue gauche :</translation>
     </message>
@@ -400,12 +445,11 @@
         <translation>Unités du système métrique :</translation>
     </message>
     <message>
-        <location line="+20"/>
         <source>Pixels in cm:</source>
-        <translation>Nombre de pixels par cm :</translation>
+        <translation type="vanished">Nombre de pixels par cm :</translation>
     </message>
     <message>
-        <location line="+38"/>
+        <location line="+36"/>
         <source>Realistic physics</source>
         <translation>Physique réaliste</translation>
     </message>
@@ -585,44 +629,36 @@
 <context>
     <name>twoDModel::model::SizeUnit</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="+113"/>
         <source>cm</source>
-        <translation>cm</translation>
+        <translation type="vanished">cm</translation>
     </message>
     <message>
-        <location line="+3"/>
         <source>mm</source>
-        <translation>mm</translation>
+        <translation type="vanished">mm</translation>
     </message>
     <message>
-        <location line="+3"/>
         <source>m</source>
-        <translation>m</translation>
+        <translation type="vanished">m</translation>
     </message>
     <message>
-        <location line="+2"/>
         <source>px</source>
-        <translation>px</translation>
+        <translation type="vanished">px</translation>
     </message>
     <message>
-        <location line="+6"/>
         <source>Pixels</source>
-        <translation>Pixels</translation>
+        <translation type="vanished">Pixels</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source>Centimeters</source>
-        <translation>Centimètres</translation>
+        <translation type="vanished">Centimètres</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source>Meters</source>
-        <translation>Mètres</translation>
+        <translation type="vanished">Mètres</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source>Millimeters</source>
-        <translation>Millimètres</translation>
+        <translation type="vanished">Millimètres</translation>
     </message>
 </context>
 <context>
@@ -833,7 +869,7 @@
 <context>
     <name>twoDModel::view::GridParameters</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="+30"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="+34"/>
         <source>Grid</source>
         <translation>Grille</translation>
     </message>
@@ -961,7 +997,7 @@
 <context>
     <name>twoDModel::view::TwoDModelWidget</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="+373"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="+382"/>
         <source>Warning</source>
         <translation>Attention</translation>
     </message>
@@ -979,17 +1015,16 @@
         <translation type="vanished">Annuler</translation>
     </message>
     <message>
-        <location line="-220"/>
         <source>cm</source>
-        <translation>cm</translation>
+        <translation type="vanished">cm</translation>
     </message>
     <message>
-        <location line="+30"/>
+        <location line="-196"/>
         <source>kg</source>
         <translation>kg</translation>
     </message>
     <message>
-        <location line="+300"/>
+        <location line="+306"/>
         <source>Training mode: solution will not be checked</source>
         <translation>Mode entraînement : la solution ne sera pas vérifiée</translation>
     </message>
@@ -1021,7 +1056,7 @@
         <translation>Chargement du monde sans modèle de robot</translation>
     </message>
     <message>
-        <location line="+334"/>
+        <location line="+335"/>
         <source>Hide details</source>
         <translation>Masquer les détails</translation>
     </message>
@@ -1031,7 +1066,7 @@
         <translation>Afficher les détails</translation>
     </message>
     <message>
-        <location line="+206"/>
+        <location line="+209"/>
         <location line="+1"/>
         <source>No wheel</source>
         <translation>Pas de roue</translation>
diff --git a/qrtranslations/fr/qrutils_fr.ts b/qrtranslations/fr/qrutils_fr.ts
index b4cb02d830..05868bb717 100644
--- a/qrtranslations/fr/qrutils_fr.ts
+++ b/qrtranslations/fr/qrutils_fr.ts
@@ -88,7 +88,7 @@
         <translation>Division entière par zéro</translation>
     </message>
     <message>
-        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="+626"/>
+        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="+627"/>
         <source>Remove</source>
         <translation>Supprimer</translation>
     </message>
diff --git a/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts b/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts
index 9d88cbc08b..c1bee26909 100644
--- a/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts
+++ b/qrtranslations/ru/plugins/robots/common/twoDModel_ru.ts
@@ -416,115 +416,155 @@
         <translation>Отмена</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="+167"/>
-        <source>Recursive template expansion detected: %1 -&gt; %2</source>
-        <translation>Обнаружено рекурсивное раскрытие шаблонов: %1 -&gt; %2</translation>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="+116"/>
+        <source>cm</source>
+        <translation>см</translation>
     </message>
     <message>
-        <location line="-116"/>
-        <source>Redefinition a template %1 that already exists</source>
-        <translation>Переопределение шаблона %1, который уже существует</translation>
+        <location line="+3"/>
+        <source>mm</source>
+        <translation>мм</translation>
     </message>
     <message>
-        <location line="+110"/>
-        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
-        <translation>&amp;lt;use&amp;gt; тег должен содержать атрибут &quot;template&quot;</translation>
+        <location line="+3"/>
+        <source>m</source>
+        <translation>м</translation>
     </message>
     <message>
-        <location line="-120"/>
+        <location line="+2"/>
+        <source>px</source>
+        <translation>пикс</translation>
+    </message>
+    <message>
+        <location line="+6"/>
+        <source>Pixels</source>
+        <translation>Пиксели</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Centimeters</source>
+        <translation>Сантиметры</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Meters</source>
+        <translation>Метры</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Millimeters</source>
+        <translation>Миллиметры</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="+41"/>
         <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
-        <translation>&amp;lt;template&amp;gt; тег был предоставлен, но не был предоставлен требуемый атрибут &quot;name&quot;</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="+43"/>
+        <location line="+10"/>
+        <source>Redefinition a template %1 that already exists</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="+33"/>
         <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
-        <translation>&amp;lt;templates&amp;gt; тег может содержать только &amp;lt;template&amp;gt; как дочерний тег, текущий %1</translation>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="+77"/>
+        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="+93"/>
+        <location line="+6"/>
+        <source>Recursive template expansion detected: %1 -&gt; %2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="+10"/>
         <source>The &amp;lt;use&amp;gt; tag contains a template=%1 attribute that is not the name of a declared template</source>
-        <translation>&amp;lt;use&amp;gt; тег содержит template=%1 атрибут, который не является именем объявленного шаблона</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+24"/>
         <source>After substituting the parameters for the template %1, it did not become a valid xml node</source>
-        <translation>После подстановки параметров для шаблона %1, он не стал валидным xml узлом</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+103"/>
         <location line="+14"/>
         <source>line %1</source>
-        <translation>строка %1</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="-12"/>
         <source>template %1</source>
-        <translation>шаблон %1</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+15"/>
         <source>relative the beginning of the &amp;lt;constraints&amp;gt; tag</source>
-        <translation>относительно начала тега &amp;lt;constraints&amp;gt;</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+3"/>
         <source>relative to the beginning of the %1 template body</source>
-        <translation>относительно начала тела шаблона %1</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+6"/>
         <source>Substitution chain: %1.</source>
-        <translation>Последовательность подстановки шаблонов: %1.</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/template.cpp" line="+29"/>
         <source>Currently, this method of setting &amp;lt;content&amp;gt; tag for the template %1 is not supported.</source>
-        <translation>На данный момент подобный метод установки тега &amp;lt;content&amp;gt; для шаблона %1 не поддерживается.</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+18"/>
         <source>When defining the template %1, the syntax %2 was used to substitute an offset %3 for an undeclared parameter %4.</source>
-        <translation>При определении шаблона %1, был использован специальный синтаксис %2 для подстановки параметра по смещению %3, для необъявленного параметра %4.</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+16"/>
         <source>the &amp;lt;params&amp;gt; tag can only contain the &amp;lt;param&amp;gt; tag as a child tag for template %1, actual tag is &amp;lt;%2&amp;gt;</source>
-        <translation>the &amp;lt;params&amp;gt; тег может содержать только &amp;lt;param&amp;gt; как дочерний тег для шаблона %1, текущий тег &amp;lt;%2&amp;gt;</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+10"/>
         <source>The &amp;lt;param&amp;gt; tag of template %1 was provided, but the required &quot;name&quot; attribute was missing.</source>
-        <translation>&amp;lt;param&amp;gt; тег шаблона %1 был предоставлен, но требуемый атрибут &quot;name&quot; не был указан.</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+57"/>
         <source>The &amp;lt;template&amp;gt; of template %1 tag was provided, but the required child tag &amp;lt;content&amp;gt; was missing</source>
-        <translation>&amp;lt;template&amp;gt; тег шаблона %1 был предоставлен, но требуемый дочерний тег &amp;lt;content&amp;gt; не был указан</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+13"/>
         <source>The using an undeclared parameter %1 for template %2</source>
-        <translation>Использование необъявленного параметра %1 для шаблона %2</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+27"/>
         <source>The &amp;lt;use&amp;gt; tag can only contain a child tag &amp;lt;with&amp;gt;</source>
-        <translation>&amp;lt;use&amp;gt; тег может содержать только &amp;lt;with&amp;gt; как дочерний тег</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location line="+40"/>
         <source>The parameter %1 of template %2 has no default value and was not explicitly specified by the user</source>
-        <translation>Параметр %1 шаблона %2 не имеет значения по умолчанию и не был выставлен явно</translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/templateParserApi.cpp" line="+85"/>
         <source>Error while template substitution: %1</source>
-        <translation>Ошибка при раскрытии шаблона: %1</translation>
+        <translation type="unfinished">Ошибка при раскрытии шаблона: %1</translation>
     </message>
     <message>
         <location line="+9"/>
         <source>Error while parsing template: %1</source>
-        <translation>Ошибка при разборе шаблона: %1</translation>
+        <translation type="unfinished">Ошибка при разборе шаблона: %1</translation>
     </message>
 </context>
 <context>
@@ -557,7 +597,12 @@
         <translation>Остановить программу</translation>
     </message>
     <message>
-        <location line="+558"/>
+        <location line="+306"/>
+        <source>Grid size:</source>
+        <translation>Шаг сетки:</translation>
+    </message>
+    <message>
+        <location line="+230"/>
         <location line="+7"/>
         <location line="+7"/>
         <location line="+14"/>
@@ -595,7 +640,7 @@
         <translation>пикс</translation>
     </message>
     <message>
-        <location line="-577"/>
+        <location line="-555"/>
         <source>Left wheel:</source>
         <translation>Левое колесо:</translation>
     </message>
@@ -610,12 +655,11 @@
         <translation>Единицы измерения</translation>
     </message>
     <message>
-        <location line="+20"/>
         <source>Pixels in cm:</source>
-        <translation>Кол-во пикселей в см</translation>
+        <translation type="vanished">Кол-во пикселей в см</translation>
     </message>
     <message>
-        <location line="+38"/>
+        <location line="+36"/>
         <source>Realistic physics</source>
         <translation>Реалистичная физика</translation>
     </message>
@@ -869,44 +913,36 @@
 <context>
     <name>twoDModel::model::SizeUnit</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="+113"/>
         <source>cm</source>
-        <translation>см</translation>
+        <translation type="vanished">см</translation>
     </message>
     <message>
-        <location line="+3"/>
         <source>mm</source>
-        <translation>мм</translation>
+        <translation type="vanished">мм</translation>
     </message>
     <message>
-        <location line="+3"/>
         <source>m</source>
-        <translation>м</translation>
+        <translation type="vanished">м</translation>
     </message>
     <message>
-        <location line="+2"/>
         <source>px</source>
-        <translation>пикс</translation>
+        <translation type="vanished">пикс</translation>
     </message>
     <message>
-        <location line="+6"/>
         <source>Pixels</source>
-        <translation>Пиксели</translation>
+        <translation type="vanished">Пиксели</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source>Centimeters</source>
-        <translation>Сантиметры</translation>
+        <translation type="vanished">Сантиметры</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source>Meters</source>
-        <translation>Метры</translation>
+        <translation type="vanished">Метры</translation>
     </message>
     <message>
-        <location line="+1"/>
         <source>Millimeters</source>
-        <translation>Миллиметры</translation>
+        <translation type="vanished">Миллиметры</translation>
     </message>
 </context>
 <context>
@@ -1180,7 +1216,7 @@
 <context>
     <name>twoDModel::view::GridParameters</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="+30"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="+34"/>
         <source>Grid</source>
         <translation>Сетка</translation>
     </message>
@@ -1312,7 +1348,7 @@
 <context>
     <name>twoDModel::view::TwoDModelWidget</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="+373"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="+382"/>
         <source>Warning</source>
         <translation>Предупреждение</translation>
     </message>
@@ -1330,17 +1366,16 @@
         <translation type="vanished">Отмена</translation>
     </message>
     <message>
-        <location line="-220"/>
         <source>cm</source>
-        <translation>см</translation>
+        <translation type="vanished">см</translation>
     </message>
     <message>
-        <location line="+30"/>
+        <location line="-196"/>
         <source>kg</source>
         <translation>кг</translation>
     </message>
     <message>
-        <location line="+300"/>
+        <location line="+306"/>
         <source>Training mode: solution will not be checked</source>
         <translation>Режим тренировки: решение не будет проверяться</translation>
     </message>
@@ -1388,7 +1423,7 @@
         <translation type="vanished">Попытка загрузить слишком большое изображение может заморозить выполнение на некоторое время. Продолжить?</translation>
     </message>
     <message>
-        <location line="+334"/>
+        <location line="+335"/>
         <source>Hide details</source>
         <translation>Скрыть детали</translation>
     </message>
@@ -1398,7 +1433,7 @@
         <translation>Показать детали</translation>
     </message>
     <message>
-        <location line="+206"/>
+        <location line="+209"/>
         <location line="+1"/>
         <source>No wheel</source>
         <translation>Отсутствует</translation>
diff --git a/qrtranslations/ru/qrutils_ru.ts b/qrtranslations/ru/qrutils_ru.ts
index 737f9791d3..d274519293 100644
--- a/qrtranslations/ru/qrutils_ru.ts
+++ b/qrtranslations/ru/qrutils_ru.ts
@@ -92,7 +92,7 @@
         <translation>Целичисленное деление на ноль</translation>
     </message>
     <message>
-        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="+626"/>
+        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="+627"/>
         <source>Remove</source>
         <translation>Удалить</translation>
     </message>
diff --git a/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts b/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts
index 5168d8300e..c3adc7c9ff 100644
--- a/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts
+++ b/qrtranslations/vi/plugins/robots/common/twoDModel_vi.ts
@@ -210,8 +210,48 @@
         <translation>Đối tượng &quot;%1&quot; không có thuộc tính &quot;%2&quot;</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="167"/>
-        <source>Recursive template expansion detected: %1 -&gt; %2</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="116"/>
+        <source>cm</source>
+        <translation>cm</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="119"/>
+        <source>mm</source>
+        <translation>mm</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="122"/>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="124"/>
+        <source>px</source>
+        <translation>px</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="130"/>
+        <source>Pixels</source>
+        <translation>Điểm ảnh</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="131"/>
+        <source>Centimeters</source>
+        <translation>Xentimét</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="132"/>
+        <source>Meters</source>
+        <translation>Mét</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="133"/>
+        <source>Millimeters</source>
+        <translation>Milimét</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="41"/>
+        <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -220,18 +260,18 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="161"/>
-        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="84"/>
+        <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="41"/>
-        <source>The &amp;lt;template&amp;gt; tag was provided, but the required &quot;name&quot; attribute was missing.</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="161"/>
+        <source>The &amp;lt;use&amp;gt; tag must contain a &quot;template&quot; attribute</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="84"/>
-        <source>the &amp;lt;templates&amp;gt; tag can only contain the &amp;lt;template&amp;gt; tag as a child tag, actual %1</source>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/templates/details/templatesParser.cpp" line="167"/>
+        <source>Recursive template expansion detected: %1 -&gt; %2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -354,85 +394,89 @@
         <translation>Đơn vị hệ mét:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="445"/>
         <source>Pixels in cm:</source>
-        <translation>Số pixel trên 1 cm:</translation>
+        <translation type="vanished">Số pixel trên 1 cm:</translation>
+    </message>
+    <message>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="439"/>
+        <source>Grid size:</source>
+        <translation>Kích thước lưới:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="483"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="461"/>
         <source>Realistic physics</source>
         <translation>Vật lý thực tế</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="490"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="468"/>
         <source>Realistic sensors</source>
         <translation>Cảm biến thực tế</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="497"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="475"/>
         <source>Realistic engines</source>
         <translation>Động cơ thực tế</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="556"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="534"/>
         <source>Robot height:</source>
         <translation>Chiều cao robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="569"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="547"/>
         <source>Robot mass:</source>
         <translation>Khối lượng robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="582"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="560"/>
         <source>Wheel diameter:</source>
         <translation>Đường kính bánh xe:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="633"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="611"/>
         <source>Robot track:</source>
         <translation>Chiều rộng cơ sở robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="684"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="662"/>
         <source>Robot width:</source>
         <translation>Chiều rộng robot:</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="691"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="698"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="705"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="719"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="669"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="676"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="683"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="697"/>
         <source>cm</source>
         <translation>cm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="712"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="690"/>
         <source>kg</source>
         <translation>kg</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="775"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="753"/>
         <source>Decrease speed</source>
         <translation>Giảm tốc độ</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="816"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="794"/>
         <source>Time in 2D model</source>
         <translation>Thời gian trong mô hình 2D</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="825"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="803"/>
         <source> sec.</source>
         <translation> giây.</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="853"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="831"/>
         <source>Increase speed</source>
         <translation>Tăng tốc độ</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="961"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.ui" line="939"/>
         <source>px</source>
         <translation>px</translation>
     </message>
@@ -577,44 +621,36 @@
 <context>
     <name>twoDModel::model::SizeUnit</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="113"/>
         <source>cm</source>
-        <translation>cm</translation>
+        <translation type="vanished">cm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="116"/>
         <source>mm</source>
-        <translation>mm</translation>
+        <translation type="vanished">mm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="119"/>
         <source>m</source>
-        <translation>m</translation>
+        <translation type="vanished">m</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="121"/>
         <source>px</source>
-        <translation>px</translation>
+        <translation type="vanished">px</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="127"/>
         <source>Pixels</source>
-        <translation>Điểm ảnh</translation>
+        <translation type="vanished">Điểm ảnh</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="128"/>
         <source>Centimeters</source>
-        <translation>Xentimét</translation>
+        <translation type="vanished">Xentimét</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="129"/>
         <source>Meters</source>
-        <translation>Mét</translation>
+        <translation type="vanished">Mét</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/model/metricSystem.cpp" line="130"/>
         <source>Millimeters</source>
-        <translation>Milimét</translation>
+        <translation type="vanished">Milimét</translation>
     </message>
 </context>
 <context>
@@ -825,7 +861,7 @@
 <context>
     <name>twoDModel::view::GridParameters</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="30"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/parts/gridParameters.cpp" line="34"/>
         <source>Grid</source>
         <translation>Lưới</translation>
     </message>
@@ -953,75 +989,74 @@
 <context>
     <name>twoDModel::view::TwoDModelWidget</name>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="154"/>
         <source>cm</source>
-        <translation>cm</translation>
+        <translation type="vanished">cm</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="184"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="187"/>
         <source>kg</source>
         <translation>kg</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="373"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="382"/>
         <source>Warning</source>
         <translation>Cảnh báo</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="374"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="383"/>
         <source>Do you really want to clear scene?</source>
         <translation>Bạn có thực sự muốn xóa toàn bộ cảnh?</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="484"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="493"/>
         <source>Training mode: solution will not be checked</source>
         <translation>Chế độ luyện tập: lời giải sẽ không được kiểm tra</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="485"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="494"/>
         <source>Checking mode: solution will be checked, errors will be reported</source>
         <translation>Chế độ kiểm tra: lời giải sẽ được kiểm tra, các lỗi sẽ được báo cáo</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="547"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="556"/>
         <source>Saving world and robot model</source>
         <translation>Đang lưu mô hình thế giới và robot</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="547"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="567"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="592"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="556"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="576"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="601"/>
         <source>2D model saves (*.xml)</source>
         <translation>Tệp lưu mô hình 2D (*.xml)</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="567"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="576"/>
         <source>Loading world and robot model</source>
         <translation>Đang tải mô hình thế giới và robot</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="592"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="601"/>
         <source>Loading world without robot model</source>
         <translation>Đang tải mô hình thế giới mà không có mô hình robot</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="926"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="936"/>
         <source>Hide details</source>
         <translation>Ẩn chi tiết</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="926"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="936"/>
         <source>Show details</source>
         <translation>Hiển thị chi tiết</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1132"/>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1133"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1145"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1146"/>
         <source>No wheel</source>
         <translation>Không có bánh xe</translation>
     </message>
     <message>
-        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1139"/>
+        <location filename="../../../../../plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp" line="1152"/>
         <source>%1 (port %2)</source>
         <translation>%1 (cổng %2)</translation>
     </message>
diff --git a/qrtranslations/vi/qrutils_vi.ts b/qrtranslations/vi/qrutils_vi.ts
index 7cd8765ed6..021d520e96 100644
--- a/qrtranslations/vi/qrutils_vi.ts
+++ b/qrtranslations/vi/qrutils_vi.ts
@@ -69,7 +69,7 @@
         <translation>Chia số nguyên cho 0</translation>
     </message>
     <message>
-        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="626"/>
+        <location filename="../../qrutils/graphicsUtils/abstractItem.cpp" line="627"/>
         <source>Remove</source>
         <translation>Xóa</translation>
     </message>
diff --git a/qrutils/graphicsUtils/abstractItem.cpp b/qrutils/graphicsUtils/abstractItem.cpp
index e627e83efb..a101a0f53f 100644
--- a/qrutils/graphicsUtils/abstractItem.cpp
+++ b/qrutils/graphicsUtils/abstractItem.cpp
@@ -14,6 +14,7 @@
 
 #include "abstractItem.h"
 
+#include <cmath>
 #include <QtCore/QUuid>
 #include <QtGui/QPainter>
 #include <QtWidgets/QMenu>
@@ -686,16 +687,7 @@ void AbstractItem::copyTo(AbstractItem * const other) const
 			, QOverload<const QBrush &>::of(&AbstractItem::setBrush));
 }
 
-qreal AbstractItem::alignedCoordinate(qreal coord, const int indexGrid) const
+qreal AbstractItem::alignedCoordinate(qreal coord, const qreal gridSize) const
 {
-	const int coef = static_cast<int>(coord) / indexGrid;
-	const int coefSign = coef ? coef / qAbs(coef) : 0;
-
-	if (qAbs(qAbs(coord) - qAbs(coef) * indexGrid) <= indexGrid / 2.0) {
-		return coef * indexGrid;
-	} else if (qAbs(qAbs(coord) - (qAbs(coef) + 1) * indexGrid) <= indexGrid / 2.0) {
-		return (coef + coefSign) * indexGrid;
-	}
-
-	return coord;
+	return std::round(coord / gridSize) * gridSize;
 }
diff --git a/qrutils/graphicsUtils/abstractItem.h b/qrutils/graphicsUtils/abstractItem.h
index 78bcad5af7..1a991df017 100644
--- a/qrutils/graphicsUtils/abstractItem.h
+++ b/qrutils/graphicsUtils/abstractItem.h
@@ -192,7 +192,7 @@ class QRUTILS_EXPORT AbstractItem : public QGraphicsObject
 
 	virtual void updateCursor(QGraphicsSceneHoverEvent *event);
 	void copyTo(AbstractItem * const other) const;
-	qreal alignedCoordinate(qreal coord, const int indexGrid) const;
+	qreal alignedCoordinate(qreal coord, const qreal gridSize) const;
 	void setXYWithDragState(const QPointF pos);
 
 private:
diff --git a/qrutils/graphicsUtils/gridDrawer.cpp b/qrutils/graphicsUtils/gridDrawer.cpp
index 2c86fab201..d6e0d64ed5 100644
--- a/qrutils/graphicsUtils/gridDrawer.cpp
+++ b/qrutils/graphicsUtils/gridDrawer.cpp
@@ -13,30 +13,30 @@
  * limitations under the License. */
 
 #include <QtCore/QLineF>
-
+#include <cmath>
 #include "gridDrawer.h"
 
 using namespace graphicsUtils;
 
-GridDrawer::GridDrawer()
-{
-}
+GridDrawer::GridDrawer() = default;
 
-void GridDrawer::drawGrid(QPainter *painter, const QRectF &rect, const int indexGrid)
+void GridDrawer::drawGrid(QPainter *painter, const QRectF &rect, const qreal gridSize)
 {
-	const int left = static_cast<int>(rect.left());
-	const int right = static_cast<int>(rect.right());
-	const int top = static_cast<int>(rect.top());
-	const int bottom = static_cast<int>(rect.bottom());
+	const auto firstVerticalLineIndex = static_cast<int>(std::floor(rect.left() / gridSize));
+	const auto lastVerticalLineIndex = static_cast<int>(std::ceil(rect.right() / gridSize));
 
-	const int startX = left / indexGrid * indexGrid;
-	const int startY = top / indexGrid * indexGrid;
-
-	for (int i = startX; i <= right; i += indexGrid) {
-		painter->drawLine(i, top, i, bottom);
+	for (auto i = firstVerticalLineIndex; i <= lastVerticalLineIndex; ++i) {
+		const auto currentVerticalLineX = i * gridSize;
+		painter->drawLine(QPointF(currentVerticalLineX, rect.top()),
+					QPointF(currentVerticalLineX, rect.bottom()));
 	}
 
-	for (int i = startY; i <= bottom; i += indexGrid) {
-		painter->drawLine(left, i, right, i);
+	const auto firstHorizontalLineIndex = static_cast<int>(std::floor(rect.top() / gridSize));
+	const auto lastHorizontalLineIndex = static_cast<int>(std::floor(rect.bottom() / gridSize));
+
+	for (auto i = firstHorizontalLineIndex; i <= lastHorizontalLineIndex; ++i) {
+		const auto currentHorizontalLineY = i * gridSize;
+		painter->drawLine(QPointF(rect.left(), currentHorizontalLineY),
+			QPointF(rect.right(), currentHorizontalLineY));
 	}
 }
diff --git a/qrutils/graphicsUtils/gridDrawer.h b/qrutils/graphicsUtils/gridDrawer.h
index 543102636e..63b1d641c4 100644
--- a/qrutils/graphicsUtils/gridDrawer.h
+++ b/qrutils/graphicsUtils/gridDrawer.h
@@ -24,7 +24,7 @@ class QRUTILS_EXPORT GridDrawer
 {
 public:
 	GridDrawer();
-	void drawGrid(QPainter *painter, const QRectF &rect, const int indexGrid);
+	void drawGrid(QPainter *painter, const QRectF &rect, const qreal indexGrid);
 };
 
 }