diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff35f57..5dbfb6e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs sensor_msgs messag
     display_set_font.srv
     field_disable_sf_tracking.srv
     field_enable_sf_tracking.srv
+    field_get_actual_field.srv
     field_get_bool.srv
     field_get_color.srv
     field_get_count.srv
@@ -109,6 +110,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs sensor_msgs messag
     node_get_pose.srv
     node_get_parent_node.srv
     node_get_position.srv
+    node_get_proto.srv
     node_get_static_balance.srv
     node_get_status.srv
     node_get_string.srv
@@ -122,6 +124,12 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs sensor_msgs messag
     node_set_visibility.srv
     node_set_velocity.srv
     pen_set_ink_color.srv
+    proto_get_field.srv
+    proto_get_field_by_index.srv
+    proto_get_number_of_fields.srv
+    proto_get_parent.srv
+    proto_get_type_name.srv
+    proto_is_derived.srv
     range_finder_get_info.srv
     receiver_get_emitter_direction.srv
     robot_get_device_list.srv
diff --git a/package.xml b/package.xml
index 57a747f..0e38e62 100644
--- a/package.xml
+++ b/package.xml
@@ -3,7 +3,7 @@
   <name>webots_ros</name>
   <!-- Before 2022.1.0: Version matches Webots version this way: (major - 2018).minor.maintenance -->
   <!-- From 2022.1.0: Version matches Webots version this way: year.minor.maintenance -->
-  <version>2023.0.0</version>
+  <version>2023.1.0</version>
   <description>The ROS package containing examples for interfacing ROS with the standard ROS controller of Webots</description>
 
   <url>http://wiki.ros.org/webots_ros</url>
diff --git a/plugins/robot_windows/info/info.js b/plugins/robot_windows/info/info.js
index 2bfe9bf..6be2e9a 100644
--- a/plugins/robot_windows/info/info.js
+++ b/plugins/robot_windows/info/info.js
@@ -1,4 +1,4 @@
-import RobotWindow from 'https://cyberbotics.com/wwi/R2023a/RobotWindow.js';
+import RobotWindow from 'https://cyberbotics.com/wwi/R2023b/RobotWindow.js';
 window.robotWindow = new RobotWindow();
 window.onload = () => {
   window.robotWindow.receive = function (message, robot) {
diff --git a/src/complete_test.cpp b/src/complete_test.cpp
index 116814e..cdf7653 100644
--- a/src/complete_test.cpp
+++ b/src/complete_test.cpp
@@ -71,6 +71,7 @@
 #include <webots_ros/display_set_font.h>
 #include <webots_ros/field_disable_sf_tracking.h>
 #include <webots_ros/field_enable_sf_tracking.h>
+#include <webots_ros/field_get_actual_field.h>
 #include <webots_ros/field_get_bool.h>
 #include <webots_ros/field_get_color.h>
 #include <webots_ros/field_get_count.h>
@@ -112,6 +113,7 @@
 #include <webots_ros/node_get_parent_node.h>
 #include <webots_ros/node_get_pose.h>
 #include <webots_ros/node_get_position.h>
+#include <webots_ros/node_get_proto.h>
 #include <webots_ros/node_get_static_balance.h>
 #include <webots_ros/node_get_status.h>
 #include <webots_ros/node_get_string.h>
@@ -124,6 +126,12 @@
 #include <webots_ros/node_set_velocity.h>
 #include <webots_ros/node_set_visibility.h>
 #include <webots_ros/pen_set_ink_color.h>
+#include <webots_ros/proto_get_field.h>
+#include <webots_ros/proto_get_field_by_index.h>
+#include <webots_ros/proto_get_number_of_fields.h>
+#include <webots_ros/proto_get_parent.h>
+#include <webots_ros/proto_get_type_name.h>
+#include <webots_ros/proto_is_derived.h>
 #include <webots_ros/range_finder_get_info.h>
 #include <webots_ros/receiver_get_emitter_direction.h>
 #include <webots_ros/robot_get_device_list.h>
@@ -161,6 +169,7 @@ static double GPSSpeedVectorValues[3] = {0, 0, 0};
 static double GyroValues[3] = {0, 0, 0};
 static double inertialUnitValues[4] = {0, 0, 0, 0};
 static double touchSensorValues[3] = {0, 0, 0};
+static bool vacuumGripperPresence = 0;
 static bool callbackCalled = false;
 
 ros::ServiceClient time_step_client;
@@ -368,6 +377,14 @@ void touchSensor3DCallback(const geometry_msgs::WrenchStamped::ConstPtr &values)
   callbackCalled = true;
 }
 
+void vacuumGripperCallback(const webots_ros::BoolStamped::ConstPtr &value) {
+  vacuumGripperPresence = value->data;
+
+  ROS_INFO("VacuumGripper presence: %d (time: %d:%d).", vacuumGripperPresence, value->header.stamp.sec,
+           value->header.stamp.nsec);
+  callbackCalled = true;
+}
+
 void receiverCallback(const webots_ros::StringStamped::ConstPtr &value) {
   char *message = const_cast<char *>(value->data.c_str());
   ROS_INFO("Received a message %s.", message);
@@ -3025,6 +3042,75 @@ int main(int argc, char **argv) {
   sampling_period_touch_sensor_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  /////////////////////////////////
+  // VACUUM GRIPPER METHODS TEST //
+  /////////////////////////////////
+
+  ros::ServiceClient vacuum_gripper_enable_presence_client;
+  webots_ros::set_int vacuum_gripper_srv;
+  ros::Subscriber sub_vacuum_gripper;
+  vacuum_gripper_enable_presence_client =
+    n.serviceClient<webots_ros::set_int>(model_name + "/vacuum_gripper/presence_sensor/enable");
+
+  vacuum_gripper_srv.request.value = 32;
+  if (vacuum_gripper_enable_presence_client.call(vacuum_gripper_srv) && vacuum_gripper_srv.response.success) {
+    ROS_INFO("Vacuum gripper's presence sensor enabled.");
+    sub_vacuum_gripper = n.subscribe(model_name + "/vacuum_gripper/presence", 1, vacuumGripperCallback);
+    callbackCalled = false;
+    while (sub_vacuum_gripper.getNumPublishers() == 0 || !callbackCalled) {
+      ros::spinOnce();
+      time_step_client.call(time_step_srv);
+    }
+  } else {
+    if (!vacuum_gripper_srv.response.success)
+      ROS_ERROR("Sampling period is not valid.");
+    ROS_ERROR("Failed to enable vacuum gripper's presence sensor.");
+    return 1;
+  }
+
+  sub_vacuum_gripper.shutdown();
+
+  time_step_client.call(time_step_srv);
+  time_step_client.call(time_step_srv);
+  time_step_client.call(time_step_srv);
+
+  vacuum_gripper_srv.request.value = 0;
+  if (vacuum_gripper_enable_presence_client.call(vacuum_gripper_srv) && vacuum_gripper_srv.response.success)
+    ROS_INFO("Vacuum gripper's presence sensor disabled.");
+  else {
+    if (!vacuum_gripper_srv.response.success)
+      ROS_ERROR("Sampling period is not valid.");
+    ROS_ERROR("Failed to disable vacuum gripper's presence sensor.");
+    return 1;
+  }
+
+  ros::ServiceClient vacuum_gripper_turn_on_client;
+  webots_ros::set_bool vacuum_gripper_turn_on_srv;
+  vacuum_gripper_turn_on_client = n.serviceClient<webots_ros::set_bool>(model_name + "/vacuum_gripper/turn_on");
+
+  vacuum_gripper_turn_on_srv.request.value = true;
+  if (vacuum_gripper_turn_on_client.call(vacuum_gripper_turn_on_srv) && vacuum_gripper_turn_on_srv.response.success)
+    ROS_INFO("Vacuum gripper has been turned on.");
+  else
+    ROS_INFO("Failed to turn on vacuum gripper.");
+
+  vacuum_gripper_turn_on_client.shutdown();
+  vacuum_gripper_enable_presence_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  ros::ServiceClient vacuum_gripper_is_on_client;
+  webots_ros::get_bool vacuum_gripper_is_on_srv;
+  vacuum_gripper_is_on_client = n.serviceClient<webots_ros::get_bool>(model_name + "/vacuum_gripper/is_on");
+
+  if (vacuum_gripper_is_on_client.call(vacuum_gripper_is_on_srv))
+    ROS_INFO("Vacuum gripper is on: %d", vacuum_gripper_is_on_srv.response.value);
+  else
+    ROS_INFO("Failed to call is_on for vacuum gripper.");
+
+  vacuum_gripper_turn_on_client.shutdown();
+  vacuum_gripper_enable_presence_client.shutdown();
+  time_step_client.call(time_step_srv);
+
   /////////////////////////////
   // SUPERVISOR METHODS TEST //
   /////////////////////////////
@@ -3286,7 +3372,6 @@ int main(int argc, char **argv) {
     model_name + "/supervisor/node/disable_contact_points_tracking");
 
   supervisor_node_disable_contact_points_tracking_srv.request.node = from_def_node;
-  supervisor_node_disable_contact_points_tracking_srv.request.include_descendants = false;
   supervisor_node_disable_contact_points_tracking_client.call(supervisor_node_disable_contact_points_tracking_srv);
   ROS_INFO("Contact point tracking success = %d", supervisor_node_disable_contact_points_tracking_srv.response.success);
 
@@ -3394,30 +3479,43 @@ int main(int argc, char **argv) {
   supervisor_node_restart_controller_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test node_get_field
   ros::ServiceClient supervisor_node_get_field_client;
   webots_ros::node_get_field supervisor_node_get_field_srv;
   supervisor_node_get_field_client = n.serviceClient<webots_ros::node_get_field>(model_name + "/supervisor/node/get_field");
 
   supervisor_node_get_field_srv.request.node = root_node;
   supervisor_node_get_field_srv.request.fieldName = "children";
-  supervisor_node_get_field_srv.request.proto = 0;
+  supervisor_node_get_field_srv.request.queryBaseNode = 0;
   supervisor_node_get_field_client.call(supervisor_node_get_field_srv);
   uint64_t field = supervisor_node_get_field_srv.response.field;
 
+  // retrieve additional fields for the field_get_actual_field test later
+  supervisor_node_get_field_srv.request.node = ground_node;
+  supervisor_node_get_field_srv.request.fieldName = "name";
+  supervisor_node_get_field_srv.request.queryBaseNode = 0;
+  supervisor_node_get_field_client.call(supervisor_node_get_field_srv);
+  uint64_t ground_actual_name_field = supervisor_node_get_field_srv.response.field;
+  supervisor_node_get_field_srv.request.queryBaseNode = 1;
+  supervisor_node_get_field_client.call(supervisor_node_get_field_srv);
+  uint64_t ground_base_name_field = supervisor_node_get_field_srv.response.field;
+
   supervisor_node_get_field_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test node_get_number_of_fields
   ros::ServiceClient wb_supervisor_node_get_number_of_fields_client;
   webots_ros::node_get_number_of_fields wb_supervisor_node_get_number_of_fields_srv;
   wb_supervisor_node_get_number_of_fields_client =
     n.serviceClient<webots_ros::node_get_number_of_fields>(model_name + "/supervisor/node/get_number_of_fields");
   wb_supervisor_node_get_number_of_fields_srv.request.node = root_node;
-  wb_supervisor_node_get_number_of_fields_srv.request.proto = 0;
+  wb_supervisor_node_get_number_of_fields_srv.request.queryBaseNode = 0;
   wb_supervisor_node_get_number_of_fields_client.call(wb_supervisor_node_get_number_of_fields_srv);
   ROS_INFO("World's root Group node have %d fields.", wb_supervisor_node_get_number_of_fields_srv.response.value);
   wb_supervisor_node_get_number_of_fields_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test node_get_field_by_index
   ros::ServiceClient wb_supervisor_node_get_field_by_index_client;
   webots_ros::node_get_field_by_index wb_supervisor_node_get_field_by_index_srv;
   wb_supervisor_node_get_field_by_index_client =
@@ -3430,6 +3528,19 @@ int main(int argc, char **argv) {
   wb_supervisor_node_get_field_by_index_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test field_get_actual_field
+  ros::ServiceClient supervisor_field_get_actual_field_client;
+  webots_ros::field_get_actual_field supervisor_field_get_actual_field_srv;
+  supervisor_field_get_actual_field_client =
+    n.serviceClient<webots_ros::field_get_actual_field>(model_name + "/supervisor/field/get_actual_field");
+  supervisor_field_get_actual_field_srv.request.field = ground_base_name_field;
+  supervisor_field_get_actual_field_client.call(supervisor_field_get_actual_field_srv);
+  if ( supervisor_field_get_actual_field_srv.response.field == ground_actual_name_field)
+    ROS_INFO("Field's actual field matches the field in the scene tree.");
+  else
+    ROS_ERROR("Field's actual field does not match the field in the scene tree.");
+
+  // test field_get_name
   ros::ServiceClient supervisor_field_get_name_client;
   webots_ros::field_get_name supervisor_field_get_name_srv;
   supervisor_field_get_name_client = n.serviceClient<webots_ros::field_get_name>(model_name + "/supervisor/field/get_name");
@@ -3439,6 +3550,7 @@ int main(int argc, char **argv) {
   supervisor_field_get_name_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test field_get_type
   ros::ServiceClient supervisor_field_get_type_client;
   webots_ros::field_get_type supervisor_field_get_type_srv;
   supervisor_field_get_type_client = n.serviceClient<webots_ros::field_get_type>(model_name + "/supervisor/field/get_type");
@@ -3450,6 +3562,7 @@ int main(int argc, char **argv) {
   supervisor_field_get_type_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test field_get_type_name
   ros::ServiceClient supervisor_field_get_type_name_client;
   webots_ros::field_get_name supervisor_field_get_type_name_srv;
   supervisor_field_get_type_name_client =
@@ -3462,6 +3575,7 @@ int main(int argc, char **argv) {
   supervisor_field_get_type_name_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test field_get_count
   ros::ServiceClient supervisor_field_get_count_client;
   webots_ros::field_get_count supervisor_field_get_count_srv;
   supervisor_field_get_count_client = n.serviceClient<webots_ros::field_get_count>(model_name + "/supervisor/field/get_count");
@@ -3476,11 +3590,16 @@ int main(int argc, char **argv) {
   supervisor_field_get_count_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // Get field for upcoming tests
+  supervisor_node_get_field_client = n.serviceClient<webots_ros::node_get_field>(model_name + "/supervisor/node/get_field");
   supervisor_node_get_field_srv.request.node = from_def_node;
   supervisor_node_get_field_srv.request.fieldName = "name";
+  supervisor_node_get_field_srv.request.queryBaseNode = 0;
   supervisor_node_get_field_client.call(supervisor_node_get_field_srv);
   field = supervisor_node_get_field_srv.response.field;
+  supervisor_node_get_field_client.shutdown();
 
+  // supervisor_field_set_string
   ros::ServiceClient supervisor_field_set_string_client;
   webots_ros::field_set_string supervisor_field_set_string_srv;
   supervisor_field_set_string_client =
@@ -3543,11 +3662,15 @@ int main(int argc, char **argv) {
   supervisor_field_get_string_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // Get field for upcomming tests
+  supervisor_node_get_field_client = n.serviceClient<webots_ros::node_get_field>(model_name + "/supervisor/node/get_field");
   supervisor_node_get_field_srv.request.node = root_node;
   supervisor_node_get_field_srv.request.fieldName = "children";
   supervisor_node_get_field_client.call(supervisor_node_get_field_srv);
   field = supervisor_node_get_field_srv.response.field;
+  supervisor_node_get_field_client.shutdown();
 
+  // test supervisor_field_get_node
   ros::ServiceClient supervisor_field_get_node_client;
   webots_ros::field_get_node supervisor_field_get_node_srv;
   supervisor_field_get_node_client = n.serviceClient<webots_ros::field_get_node>(model_name + "/supervisor/field/get_node");
@@ -3842,6 +3965,115 @@ int main(int argc, char **argv) {
   node_export_string_client.shutdown();
   time_step_client.call(time_step_srv);
 
+  // test node_get_proto
+  ros::ServiceClient node_get_proto_client;
+  webots_ros::node_get_proto node_get_proto_srv;
+  node_get_proto_client = n.serviceClient<webots_ros::node_get_proto>(model_name + "/supervisor/node/get_proto");
+  node_get_proto_srv.request.node = ground_node;
+  node_get_proto_client.call(node_get_proto_srv);
+  uint64_t proto = node_get_proto_srv.response.proto;
+  if (proto != 0)
+    ROS_INFO("Ground proto retrieved successfully.");
+  else
+    ROS_ERROR("Failed to call service node_get_proto.");
+
+  node_get_proto_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // test proto_get_field
+  ros::ServiceClient proto_get_field_client;
+  webots_ros::proto_get_field proto_get_field_srv;
+  proto_get_field_client = n.serviceClient<webots_ros::proto_get_field>(model_name + "/supervisor/proto/get_field");
+  proto_get_field_srv.request.proto = proto;
+  proto_get_field_srv.request.fieldName = "name";
+  proto_get_field_client.call(proto_get_field_srv);
+  uint64_t proto_field = proto_get_field_srv.response.field;
+  if (proto_field != 0)
+    ROS_INFO("Proto field \"name\" retrieved successfully.");
+  else
+    ROS_ERROR("Failed to call service proto_get_field.");
+
+  proto_get_field_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // test proto_get_field_by_index
+  ros::ServiceClient proto_get_field_by_index_client;
+  webots_ros::proto_get_field_by_index proto_get_field_by_index_srv;
+  proto_get_field_by_index_client =
+    n.serviceClient<webots_ros::proto_get_field_by_index>(model_name + "/supervisor/proto/get_field_by_index");
+  proto_get_field_by_index_srv.request.proto = proto;
+  proto_get_field_by_index_srv.request.index = 0;
+  proto_get_field_by_index_client.call(proto_get_field_by_index_srv);
+  proto_field = proto_get_field_by_index_srv.response.field;
+  if (proto_field != 0)
+    ROS_INFO("Proto field at index 0 retrieved successfully.");
+  else
+    ROS_ERROR("Failed to call service proto_get_field_by_index.");
+
+  proto_get_field_by_index_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // test proto_get_number_of_fields
+  ros::ServiceClient proto_get_number_of_fields_client;
+  webots_ros::proto_get_number_of_fields proto_get_number_of_fields_srv;
+  proto_get_number_of_fields_client =
+    n.serviceClient<webots_ros::proto_get_number_of_fields>(model_name + "/supervisor/proto/get_number_of_fields");
+  proto_get_number_of_fields_srv.request.proto = proto;
+  proto_get_number_of_fields_client.call(proto_get_number_of_fields_srv);
+  int32_t proto_number_of_fields = proto_get_number_of_fields_srv.response.value;
+  if (proto_number_of_fields == 14)
+    ROS_INFO("Proto has 14 fields.");
+  else
+    ROS_ERROR("Proto has %d fields. Should be 14.", proto_number_of_fields);
+
+  proto_get_number_of_fields_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // test proto_get_parent
+  ros::ServiceClient proto_get_parent_client;
+  webots_ros::proto_get_parent proto_get_parent_srv;
+  proto_get_parent_client = n.serviceClient<webots_ros::proto_get_parent>(model_name + "/supervisor/proto/get_parent");
+  proto_get_parent_srv.request.proto = proto;
+  proto_get_parent_client.call(proto_get_parent_srv);
+  uint64_t proto_parent = proto_get_parent_srv.response.proto;
+  if (proto_parent == 0)
+    ROS_INFO("Proto has no parent.");
+  else
+    ROS_ERROR("Proto has a parent. Should have no parent.");
+
+  proto_get_parent_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // test proto_get_type_name
+  ros::ServiceClient proto_get_type_name_client;
+  webots_ros::proto_get_type_name proto_get_type_name_srv;
+  proto_get_type_name_client = n.serviceClient<webots_ros::proto_get_type_name>(model_name + "/supervisor/proto/get_type_name");
+  proto_get_type_name_srv.request.proto = proto;
+  proto_get_type_name_client.call(proto_get_type_name_srv);
+  std::string proto_type_name = proto_get_type_name_srv.response.value;
+  if (proto_type_name.compare("RectangleArena") == 0)
+    ROS_INFO("Proto type name is \"RectangleArena\".");
+  else
+    ROS_ERROR("Proto type name is \"%s\". Should be \"RectangleArena\".", proto_type_name.c_str());
+
+  proto_get_type_name_client.shutdown();
+  time_step_client.call(time_step_srv);
+
+  // test proto_is_derived
+  ros::ServiceClient proto_is_derived_client;
+  webots_ros::proto_is_derived proto_is_derived_srv;
+  proto_is_derived_client = n.serviceClient<webots_ros::proto_is_derived>(model_name + "/supervisor/proto/is_derived");
+  proto_is_derived_srv.request.proto = proto;
+  proto_is_derived_client.call(proto_is_derived_srv);
+  bool proto_is_derived = proto_is_derived_srv.response.value;
+  if (!proto_is_derived)
+    ROS_INFO("Proto is not derived.");
+  else
+    ROS_ERROR("Proto is derived. Should not be derived.");
+
+  proto_is_derived_client.shutdown();
+  time_step_client.call(time_step_srv);
+
   // html robot window
   ros::ServiceClient wwi_send_client;
   wwi_send_client = n.serviceClient<webots_ros::set_string>(model_name + "/robot/wwi_send_text");
diff --git a/srv/field_get_actual_field.srv b/srv/field_get_actual_field.srv
new file mode 100644
index 0000000..e1b6b00
--- /dev/null
+++ b/srv/field_get_actual_field.srv
@@ -0,0 +1,3 @@
+uint64 field
+---
+uint64 field
diff --git a/srv/node_disable_contact_points_tracking.srv b/srv/node_disable_contact_points_tracking.srv
index 654faaa..56e647f 100644
--- a/srv/node_disable_contact_points_tracking.srv
+++ b/srv/node_disable_contact_points_tracking.srv
@@ -1,4 +1,3 @@
 uint64 node
-bool include_descendants
 ---
 int8 success
diff --git a/srv/node_get_field.srv b/srv/node_get_field.srv
index 6402ab3..91e4eec 100644
--- a/srv/node_get_field.srv
+++ b/srv/node_get_field.srv
@@ -1,5 +1,5 @@
 uint64 node
 string fieldName
-bool proto
+bool queryBaseNode
 ---
 uint64 field
diff --git a/srv/node_get_field_by_index.srv b/srv/node_get_field_by_index.srv
index 4a93929..7139b91 100644
--- a/srv/node_get_field_by_index.srv
+++ b/srv/node_get_field_by_index.srv
@@ -1,5 +1,5 @@
 uint64 node
 uint32 index
-bool proto
+bool queryBaseNode
 ---
 uint64 field
diff --git a/srv/node_get_number_of_fields.srv b/srv/node_get_number_of_fields.srv
index 9533e56..702ffc8 100644
--- a/srv/node_get_number_of_fields.srv
+++ b/srv/node_get_number_of_fields.srv
@@ -1,4 +1,4 @@
 uint64 node
-bool proto
+bool queryBaseNode
 ---
 int32 value
diff --git a/srv/node_get_proto.srv b/srv/node_get_proto.srv
new file mode 100644
index 0000000..6606c52
--- /dev/null
+++ b/srv/node_get_proto.srv
@@ -0,0 +1,3 @@
+uint64 node
+---
+uint64 proto
diff --git a/srv/proto_get_field.srv b/srv/proto_get_field.srv
new file mode 100644
index 0000000..273fa90
--- /dev/null
+++ b/srv/proto_get_field.srv
@@ -0,0 +1,4 @@
+uint64 proto
+string fieldName
+---
+uint64 field
diff --git a/srv/proto_get_field_by_index.srv b/srv/proto_get_field_by_index.srv
new file mode 100644
index 0000000..5d76295
--- /dev/null
+++ b/srv/proto_get_field_by_index.srv
@@ -0,0 +1,4 @@
+uint64 proto
+uint32 index
+---
+uint64 field
diff --git a/srv/proto_get_number_of_fields.srv b/srv/proto_get_number_of_fields.srv
new file mode 100644
index 0000000..bc47c6b
--- /dev/null
+++ b/srv/proto_get_number_of_fields.srv
@@ -0,0 +1,3 @@
+uint64 proto
+---
+int32 value
diff --git a/srv/proto_get_parent.srv b/srv/proto_get_parent.srv
new file mode 100644
index 0000000..e1c1b66
--- /dev/null
+++ b/srv/proto_get_parent.srv
@@ -0,0 +1,3 @@
+uint64 proto
+---
+uint64 proto
diff --git a/srv/proto_get_type_name.srv b/srv/proto_get_type_name.srv
new file mode 100644
index 0000000..00593ca
--- /dev/null
+++ b/srv/proto_get_type_name.srv
@@ -0,0 +1,3 @@
+uint64 proto
+---
+string value
diff --git a/srv/proto_is_derived.srv b/srv/proto_is_derived.srv
new file mode 100644
index 0000000..690376a
--- /dev/null
+++ b/srv/proto_is_derived.srv
@@ -0,0 +1,3 @@
+uint64 proto
+---
+bool value
diff --git a/worlds/.catch_the_bird.wbproj b/worlds/.catch_the_bird.wbproj
index ecd1fc8..86f44e0 100644
--- a/worlds/.catch_the_bird.wbproj
+++ b/worlds/.catch_the_bird.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000002ec0000025efc0200000001fb0000001400540065007800740045006400690074006f007200000000190000025e0000003f00ffffff00000003000004e20000005afc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004e20000006900ffffff000004e20000015700000001000000020000000100000008fc00000000
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff000000000000000000000001000002ec0000025efc0200000001fb0000001400540065007800740045006400690074006f007200000000190000025e0000003f00ffffff0000000300000a000000005afc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff00000a00000004f300000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000002010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000002010000000201
+sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000000100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/.complete_test.wbproj b/worlds/.complete_test.wbproj
index 845c711..53b76fa 100644
--- a/worlds/.complete_test.wbproj
+++ b/worlds/.complete_test.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000018f00000482fc0100000004fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000002c0052006f0062006f0074003a002000660075006c006c005f00730075007000650072007600690073006f007201000000000000018f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007701000000000000018f0000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001ed000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff00000003000005aa000000dafc0100000001fb0000000e0043006f006e0073006f006c00650100000195000005aa0000005400ffffff000003b7000003a200000004000000040000000100000008fc00000000
-simulationViewPerspectives: 000000ff000000010000000200000170000003490100000006010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000018f00000482fc0100000004fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000002c0052006f0062006f0074003a002000660075006c006c005f00730075007000650072007600690073006f007201000000000000018f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007701000000000000018f0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff000000000000000000000001000001ed00000473fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000004730000003f00ffffff0000000300000a00000000dafc0100000002fb0000000e0043006f006e0073006f006c00650100000195000005aa0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff000008110000047300000004000000040000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000170000003490100000002010000000101
+sceneTreePerspectives: 000000ff0000000100000003000000c0000000fc000000000100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/.e-puck_line.wbproj b/worlds/.e-puck_line.wbproj
index c38e684..5c6e446 100644
--- a/worlds/.e-puck_line.wbproj
+++ b/worlds/.e-puck_line.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006500000000190000033d0000000000000000000000010000016200000309fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000003090000003e00ffffff000000030000073f000000e2fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005d70000030900000004000000040000000100000008fc00000000
-simulationViewPerspectives: 000000ff00000001000000020000016c000002850100000006010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006500000000190000033d000000000000000000000001000001620000046bfc0200000001fb0000001400540065007800740045006400690074006f007201000000160000046b0000003f00ffffff0000000300000a00000000e2fc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff0000089c0000046b00000004000000040000000100000008fc00000000
+simulationViewPerspectives: 000000ff00000001000000020000016c000002850100000002010000000101
+sceneTreePerspectives: 000000ff0000000100000003000000c0000000a8000000000100000002010000000201
 minimizedPerspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000018500ffffff000000010000033f000001ebfc0200000001fb0000001400540065007800740045006400690074006f00720100000019000001eb000000ab00ffffff00000003000003ed0000014cfc0100000001fb0000000e0043006f006e0073006f006c00650100000172000003ed0000004e00ffffff000000a8000001eb00000004000000040000000100000008fc00000000
 maximizedDockId: -1
 centralWidgetVisible: 1
diff --git a/worlds/.keyboard_teleop.wbproj b/worlds/.keyboard_teleop.wbproj
index e68835c..673dfe6 100644
--- a/worlds/.keyboard_teleop.wbproj
+++ b/worlds/.keyboard_teleop.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d000000000000000000000001000001e100000258fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000002580000003e00ffffff000000030000073f00000193fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005580000025800000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000006010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d000000000000000000000001000001e1000003bafc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003ba0000003f00ffffff0000000300000a0000000193fc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff0000081d000003ba00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000002010000000101
+sceneTreePerspectives: 000000ff0000000100000003000000c0000000a8000000000100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/.panoramic_view_recorder.wbproj b/worlds/.panoramic_view_recorder.wbproj
index 28685ac..a666471 100644
--- a/worlds/.panoramic_view_recorder.wbproj
+++ b/worlds/.panoramic_view_recorder.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff000000030000073f000000dafc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000060b000003a200000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000006010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000006010000000201
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000000000010000012e00000473fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000004730000003f00ffffff0000000300000a00000000dafc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff000008d00000047300000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000002010000000101
+sceneTreePerspectives: 000000ff0000000100000003000000c000000112000000000100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/.pioneer3at.wbproj b/worlds/.pioneer3at.wbproj
index 8c24c1a..e6daa1d 100644
--- a/worlds/.pioneer3at.wbproj
+++ b/worlds/.pioneer3at.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000002d9fc0200000001fb0000001400540065007800740045006400690074006f00720000000019000002d9000000a200ffffff000000030000073f000000bbfc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000073f000003c100000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff00000001000000020000011e000004db0100000006010000000101
-sceneTreePerspectives: 000000ff0000000100000002000000c0000001240100000006010000000201
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000000000010000012e000002d9fc0200000001fb0000001400540065007800740045006400690074006f00720000000019000002d90000003f00ffffff0000000300000a00000000bbfc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff00000a000000049200000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff00000001000000020000011e000004db0100000002010000000101
+sceneTreePerspectives: 000000ff0000000100000003000000c000000124000000000100000002010000000201
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/.ros_python.wbproj b/worlds/.ros_python.wbproj
index ecc7adf..ef1029e 100644
--- a/worlds/.ros_python.wbproj
+++ b/worlds/.ros_python.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001c900000375fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003750000008900ffffff000000030000073f00000093fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000006900ffffff000005740000037500000001000000020000000100000008fc00000000
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff000000000000000000000001000001c9000004bafc0200000001fb0000001400540065007800740045006400690074006f00720100000016000004ba0000008900ffffff0000000300000a0000000093fc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff00000835000004ba00000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000100000005210100000002010000000100
-sceneTreePerspectives: 000000ff0000000100000002000002aa000000fa0100000002010000000200
+sceneTreePerspectives: 000000ff0000000100000003000002aa000000fa000000000100000002010000000200
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/.tiago.wbproj b/worlds/.tiago.wbproj
index e0a2349..68fa40e 100644
--- a/worlds/.tiago.wbproj
+++ b/worlds/.tiago.wbproj
@@ -1,7 +1,7 @@
-Webots Project File version R2023a
-perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000011c0000038ffc0200000001fb0000001400540065007800740045006400690074006f007200000000170000038f0000003f00ffffff000000030000078000000087fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000007800000034100000001000000020000000100000008fc00000000
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000000000000000000000010000011c0000038ffc0200000001fb0000001400540065007800740045006400690074006f007200000000170000038f0000003f00ffffff0000000300000a0000000087fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000006900ffffff00000a00000004c600000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000100000003820100000002010000000100
-sceneTreePerspectives: 000000ff0000000100000002000000e0000000fa0100000002010000000200
+sceneTreePerspectives: 000000ff0000000100000003000000e0000000fa000000000100000002010000000200
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
diff --git a/worlds/catch_the_bird.wbt b/worlds/catch_the_bird.wbt
index 1b119f6..90c42cb 100644
--- a/worlds/catch_the_bird.wbt
+++ b/worlds/catch_the_bird.wbt
@@ -1,8 +1,8 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto"
 
 WorldInfo {
 }
@@ -233,7 +233,7 @@ Solid {
           physics Physics {
           }
         }
-        Transform {
+        Pose {
           rotation 1 0 0 1.5707996938995747
           children [
             Shape {
@@ -251,7 +251,7 @@ Solid {
         }
       ]
       name "body"
-      boundingObject Transform {
+      boundingObject Pose {
         rotation 1 0 0 1.5708
         children [
           Capsule {
diff --git a/worlds/complete_test.wbt b/worlds/complete_test.wbt
index 9482f61..220fa61 100644
--- a/worlds/complete_test.wbt
+++ b/worlds/complete_test.wbt
@@ -1,9 +1,9 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/humans/skin_animated_humans/protos/CharacterSkin.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/humans/skin_animated_humans/protos/CharacterSkin.proto"
 
 WorldInfo {
 }
@@ -55,7 +55,7 @@ DEF CONE Solid {
     }
   ]
   name "solid(1)"
-  boundingObject Transform {
+  boundingObject Pose {
     translation 0 -0.04 0
     children [
       Box {
@@ -283,6 +283,8 @@ Robot {
     TouchSensor {
       name "touch_sensor"
     }
+    VacuumGripper {
+    }
     Shape {
       appearance PBRAppearance {
         baseColor 0.8 0 0.0117647
diff --git a/worlds/e-puck_line.wbt b/worlds/e-puck_line.wbt
index 602b4b4..a46dccc 100644
--- a/worlds/e-puck_line.wbt
+++ b/worlds/e-puck_line.wbt
@@ -1,10 +1,10 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puck.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/E-puck.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
 
 WorldInfo {
 }
@@ -22,7 +22,7 @@ RectangleArena {
   floorAppearance PBRAppearance {
     baseColorMap ImageTexture {
       url [
-        "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/worlds/textures/floor.png"
+        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/worlds/textures/floor.png"
       ]
     }
     roughness 1
diff --git a/worlds/keyboard_teleop.wbt b/worlds/keyboard_teleop.wbt
index df1c48a..c1919b5 100644
--- a/worlds/keyboard_teleop.wbt
+++ b/worlds/keyboard_teleop.wbt
@@ -1,11 +1,11 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/containers/protos/CardboardBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/containers/protos/WoodenBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/adept/pioneer3/protos/Pioneer3dx.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/CardboardBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/WoodenBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/adept/pioneer3/protos/Pioneer3dx.proto"
 
 WorldInfo {
 }
diff --git a/worlds/panoramic_view_recorder.wbt b/worlds/panoramic_view_recorder.wbt
index e723fc4..47ab0a2 100644
--- a/worlds/panoramic_view_recorder.wbt
+++ b/worlds/panoramic_view_recorder.wbt
@@ -1,10 +1,10 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Parquetry.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/softbank/nao/protos/Nao.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/softbank/nao/protos/Nao.proto"
 
 WorldInfo {
 }
diff --git a/worlds/pioneer3at.wbt b/worlds/pioneer3at.wbt
index 425d217..482a631 100644
--- a/worlds/pioneer3at.wbt
+++ b/worlds/pioneer3at.wbt
@@ -1,37 +1,37 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Carpet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Sofa.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/traffic/protos/TrafficCone.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Door.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Wall.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Window.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/panels/protos/PanelWithTubes.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/panels/protos/Panel.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/containers/protos/WoodenBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/pallet/protos/WoodenPallet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Desk.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/Chair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/stairs/protos/StraightStairsRail.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/stairs/protos/StraightStairs.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/WoodenChair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/oven/protos/Oven.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/fridge/protos/Fridge.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/HotPlate.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Sink.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Worktop.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/plants/protos/PottedTree.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/solids/protos/SolidBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/CabinetHandle.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/Cabinet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/ThreadMetalPlate.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/adept/pioneer3/protos/Pioneer3at.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/devices/sick/protos/SickLms291.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Carpet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Sofa.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/TrafficCone.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Door.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Window.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/panels/protos/PanelWithTubes.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/panels/protos/Panel.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/obstacles/protos/OilBarrel.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/WoodenBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/pallet/protos/WoodenPallet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Desk.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/Chair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/stairs/protos/StraightStairsRail.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/stairs/protos/StraightStairs.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/WoodenChair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/oven/protos/Oven.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/fridge/protos/Fridge.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/HotPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Sink.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Worktop.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/PottedTree.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/CabinetHandle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/ThreadMetalPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/adept/pioneer3/protos/Pioneer3at.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/sick/protos/SickLms291.proto"
 
 WorldInfo {
   info [
@@ -65,36 +65,36 @@ Carpet {
   name "carpet(1)"
 }
 DEF EXTERNAL_WALL Wall {
-  translation 0 30.0 0
+  translation 0 30 0
   rotation 0 0 1 1.5708
   size 0.2 22.4 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation 18.0 30.0 0
+  translation 18 30 0
   rotation 0 0 1 1.5708
   name "wall(1)"
   size 0.2 10.4 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation -18.0 30.0 0
+  translation -18 30 0
   rotation 0 0 1 1.5708
   name "wall(2)"
   size 0.2 10.4 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation 27.45 30.0 0
+  translation 27.45 30 0
   rotation 0 0 1 1.5708
   name "wall(3)"
   size 0.2 5.3 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation -27.45 30.0 0
+  translation -27.45 30 0
   rotation 0 0 1 1.5708
   name "wall(4)"
   size 0.2 5.3 2.4
 }
-DEF DOUBLE_WINDOW Transform {
-  translation 24.0 30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation 24 30 0
   children [
     Window {
       translation -0.4 0 0
@@ -108,8 +108,8 @@ DEF DOUBLE_WINDOW Transform {
     }
   ]
 }
-DEF DOUBLE_WINDOW Transform {
-  translation 12.0 30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation 12 30 0
   children [
     Window {
       translation -0.4 0 0
@@ -123,8 +123,8 @@ DEF DOUBLE_WINDOW Transform {
     }
   ]
 }
-DEF DOUBLE_WINDOW Transform {
-  translation -12.0 30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation -12 30 0
   children [
     Window {
       translation -0.4 0 0
@@ -138,8 +138,8 @@ DEF DOUBLE_WINDOW Transform {
     }
   ]
 }
-DEF DOUBLE_WINDOW Transform {
-  translation -24.0 30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation -24 30 0
   children [
     Window {
       translation -0.4 0 0
@@ -154,37 +154,37 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF EXTERNAL_WALL Wall {
-  translation 0 -30.0 0
+  translation 0 -30 0
   rotation 0 0 1 1.5708
   name "wall(5)"
   size 0.2 22.4 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation 18.0 -30.0 0
+  translation 18 -30 0
   rotation 0 0 1 1.5708
   name "wall(6)"
   size 0.2 10.4 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation -18.0 -30.0 0
+  translation -18 -30 0
   rotation 0 0 1 1.5708
   name "wall(7)"
   size 0.2 10.4 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation 27.45 -30.0 0
+  translation 27.45 -30 0
   rotation 0 0 1 1.5708
   name "wall(9)"
   size 0.2 5.3 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation -27.45 -30.0 0
+  translation -27.45 -30 0
   rotation 0 0 1 1.5708
   name "wall(10)"
   size 0.2 5.3 2.4
 }
-DEF DOUBLE_WINDOW Transform {
-  translation 24.0 -30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation 24 -30 0
   children [
     Window {
       translation -0.4 0 0
@@ -198,8 +198,8 @@ DEF DOUBLE_WINDOW Transform {
     }
   ]
 }
-DEF DOUBLE_WINDOW Transform {
-  translation 12.0 -30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation 12 -30 0
   children [
     Window {
       translation -0.4 0 0
@@ -213,8 +213,8 @@ DEF DOUBLE_WINDOW Transform {
     }
   ]
 }
-DEF DOUBLE_WINDOW Transform {
-  translation -12.0 -30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation -12 -30 0
   children [
     Window {
       translation -0.4 0 0
@@ -228,8 +228,8 @@ DEF DOUBLE_WINDOW Transform {
     }
   ]
 }
-DEF DOUBLE_WINDOW Transform {
-  translation -24.0 -30.0 0
+DEF DOUBLE_WINDOW Pose {
+  translation -24 -30 0
   children [
     Window {
       translation -0.4 0 0
@@ -244,17 +244,17 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF EXTERNAL_WALL Wall {
-  translation 30.0 0 0
+  translation 30 0 0
   name "wall(11)"
   size 0.2 60 2.4
 }
 DEF EXTERNAL_WALL Wall {
-  translation -30.0 0 0
+  translation -30 0 0
   name "wall(12)"
   size 0.2 60 2.4
 }
 DEF INTERNAL_WALL Wall {
-  translation -10.8 11.0 0
+  translation -10.8 11 0
   name "wall(13)"
   size 0.2 8 2.4
 }
@@ -271,7 +271,7 @@ DEF INTERNAL_WINDOW Window {
   name "window(1)"
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 5.0 0
+  translation -10.8 5 0
   name "window(2)"
 }
 DEF INTERNAL_WINDOW Window {
@@ -302,13 +302,13 @@ DEF INTERNAL_WALL Wall {
   size 0.2 15 2.4
 }
 DEF INTERNAL_WALL Wall {
-  translation -2.4 15.0 0
+  translation -2.4 15 0
   rotation 0 0 1 1.5708
   name "wall(17)"
   size 0.2 5 2.4
 }
 DEF INTERNAL_WALL Wall {
-  translation -8.4 15.0 0
+  translation -8.4 15 0
   rotation 0 0 1 1.5708
   name "wall(18)"
   size 0.2 5 2.4
@@ -338,7 +338,7 @@ WoodenPallet {
 }
 WoodenPallet {
   translation 26.2712 1.39216 -0.000955835
-  rotation 0 -0.0007640587733973774 1 -2.367025307179586
+  rotation 0 -0.0007640585503741402 0.999999708107223 -2.367025307179586
   name "wooden pallet(4)"
   boundingObject FALSE
 }
@@ -362,7 +362,7 @@ WoodenPallet {
 }
 WoodenPallet {
   translation 28.5899 1.37535 -0.00135008
-  rotation -0.0012965593645873727 0.004615077738261162 1 2.98957
+  rotation -0.0012965444673713761 0.004615024711911744 0.9999885101936684 2.98957
   name "wooden pallet(8)"
   boundingObject FALSE
 }
@@ -454,10 +454,10 @@ TrafficCone {
   name "traffic cone(13)"
 }
 Door {
-  translation -5.4 15.0 0
+  translation -5.4 15 0
   rotation 0 0 1 -1.5707953071795862
 }
-DEF KITCHEN Transform {
+DEF KITCHEN Pose {
   translation 27.8 -21.2 0
   rotation 0 0 1 -1.5708
   children [
@@ -799,151 +799,86 @@ Chair {
   rotation 0 0 -1 1.5708
   name "chair(9)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation 21.2655 13.0987 0
-  rotation -0.13033599278845498 0.0539871970128658 -0.9899989452229441 -2.3632753071795864
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-      rotation 0 1 0 0.261799
-    }
-  ]
+  rotation 0 1 0 0.261799
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -21.2183 -21.6362 0
   rotation 0 0 1 2.618
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(1)"
+  name "potted tree(1)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -21.1851 -20.2765 0
   rotation 0 0 1 0.261795
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(2)"
+  name "potted tree(2)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -21.223 -14.4309 0
   rotation 0 0 1 0.261795
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(3)"
+  name "potted tree(3)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -21.1983 -13.1633 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(4)"
+  name "potted tree(4)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -9.98679 -5.37678 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(5)"
+  name "potted tree(5)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -10.1726 0.216214 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(6)"
+  name "potted tree(6)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -10.067 8.47773 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(7)"
+  name "potted tree(7)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation -9.86925 13.5549 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(8)"
+  name "potted tree(8)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation 1.30651 28.489 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(9)"
+  name "potted tree(9)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation 21.2939 14.4648 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(10)"
+  name "potted tree(10)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation 21.263 20.4389 0
   rotation 0 0 1 2.35619
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(11)"
+  name "potted tree(11)"
 }
-DEF TREE Solid {
+DEF TREE PottedTree {
   translation 21.2686 21.92 0
-  scale 1.7 1.7 1.7
-  children [
-    PottedTree {
-    }
-  ]
-  name "solid(12)"
+  name "potted tree(12)"
 }
 PottedTree {
   translation 18.8987 -29.4672 0
+  name "potted tree(13)"
 }
 PottedTree {
   translation 27.5526 -26.7018 0
-  name "potted tree(1)"
+  name "potted tree(14)"
 }
 PottedTree {
   translation 17.1715 -20.9225 0
-  name "potted tree(2)"
+  name "potted tree(15)"
 }
 Sofa {
   translation 27.9791 -28.4787 0
   rotation 0 0 1 2.356185307179586
 }
-DEF OFFICES Transform {
+DEF OFFICES Pose {
   rotation 0 0.7071072811862539 0.7071062811858562 3.14159
   children [
     Panel {
@@ -1273,7 +1208,7 @@ DEF OFFICES Transform {
     }
   ]
 }
-DEF OFFICES Transform {
+DEF OFFICES Pose {
   rotation 1 0 0 1.5707953071795862
   children [
     Panel {
@@ -1603,7 +1538,7 @@ DEF OFFICES Transform {
     }
   ]
 }
-DEF BOXES Transform {
+DEF BOXES Pose {
   rotation 1 0 0 1.5708
   children [
     WoodenBox {
@@ -1642,8 +1577,8 @@ DEF BOXES Transform {
     }
   ]
 }
-DEF BOXES Transform {
-  translation -7.0 0 0
+DEF BOXES Pose {
+  translation -7 0 0
   rotation 1 0 0 1.5708
   children [
     WoodenBox {
@@ -1683,8 +1618,8 @@ DEF BOXES Transform {
     }
   ]
 }
-DEF BOXES Transform {
-  translation 0 -3.0 0
+DEF BOXES Pose {
+  translation 0 -3 0
   rotation 1 0 0 1.5708
   children [
     WoodenBox {
@@ -1724,8 +1659,8 @@ DEF BOXES Transform {
     }
   ]
 }
-DEF BOXES Transform {
-  translation -7.0 -3.0 0
+DEF BOXES Pose {
+  translation -7 -3 0
   rotation 1 0 0 1.5708
   children [
     WoodenBox {
@@ -1765,8 +1700,8 @@ DEF BOXES Transform {
     }
   ]
 }
-DEF BOXES Transform {
-  translation 0 -6.0 0
+DEF BOXES Pose {
+  translation 0 -6 0
   rotation 1 0 0 1.5708
   children [
     WoodenBox {
@@ -1884,7 +1819,7 @@ StraightStairs {
   ]
 }
 StraightStairs {
-  translation 0.76 19.0 0
+  translation 0.76 19 0
   rotation 0 0 1 1.5707953071795862
   name "straight stairs(2)"
   stepRise 0.2
@@ -1922,8 +1857,8 @@ StraightStairs {
     }
   ]
 }
-DEF BOXES Transform {
-  translation -7.0 -6.0 0
+DEF BOXES Pose {
+  translation -7 -6 0
   rotation 1 0 0 1.5708
   children [
     WoodenBox {
diff --git a/worlds/ros_python.wbt b/worlds/ros_python.wbt
index 36ee396..3e30b97 100644
--- a/worlds/ros_python.wbt
+++ b/worlds/ros_python.wbt
@@ -1,9 +1,9 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/CircleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/mobsya/thymio/protos/Thymio2.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/CircleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/mobsya/thymio/protos/Thymio2.proto"
 
 WorldInfo {
   info [
diff --git a/worlds/tiago.wbt b/worlds/tiago.wbt
index 60f056e..90ebcb0 100644
--- a/worlds/tiago.wbt
+++ b/worlds/tiago.wbt
@@ -1,50 +1,50 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/Cabinet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/CabinetHandle.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/oven/protos/Oven.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/fridge/protos/Fridge.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/Chair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/plants/protos/PottedTree.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/plants/protos/BunchOfSunFlowers.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Sofa.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Carpet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Armchair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Door.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/DoorLever.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Wall.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Window.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Sink.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Worktop.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/HotPlate.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/WoodenChair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/drinks/protos/Can.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/fruits/protos/FruitBowl.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/school_furniture/protos/Book.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/pal_robotics/tiago_steel/protos/TiagoSteel.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/lights/protos/CeilingLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/lights/protos/FloorLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/paintings/protos/PortraitPainting.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/paintings/protos/LandscapePainting.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/create_wall/protos/CreateWall.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/PaintedWood.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Parquetry.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Roughcast.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/fruits/protos/Orange.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/fruits/protos/Apple.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Desk.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puck.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/CabinetHandle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/oven/protos/Oven.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/fridge/protos/Fridge.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/Chair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/PottedTree.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/BunchOfSunFlowers.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Sofa.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Carpet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Armchair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Door.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/DoorLever.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Window.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Sink.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Worktop.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/HotPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/WoodenChair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/drinks/protos/Can.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/fruits/protos/FruitBowl.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/school_furniture/protos/Book.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/pal_robotics/tiago/protos/Tiago.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/CeilingLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/FloorLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/paintings/protos/PortraitPainting.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/paintings/protos/LandscapePainting.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/create_wall/protos/CreateWall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/PaintedWood.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Roughcast.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/fruits/protos/Orange.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/fruits/protos/Apple.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Desk.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/E-puck.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
 
 WorldInfo {
   info [
-    "TIAGo Steel simulation with MoveIt and differential drive integration (ROS)."
+    "TIAGo simulation with MoveIt and differential drive integration (ROS)."
   ]
-  title "TIAGo Steel"
+  title "TIAGo"
   basicTimeStep 16
   contactProperties [
     ContactProperties {
@@ -534,7 +534,7 @@ LandscapePainting {
 CreateWall {
   translation 3.53117 -3.235 0
 }
-TiagoSteel {
+Tiago {
   translation 2.194 -4.717 0.095
   controller "ros"
   controllerArgs [