Import the project

1 files changed, 5619 insertions, 0 deletions

diff --git a/worlds/kitchen.wbt b/worlds/kitchen.wbt
new file mode 100644
index 0000000..964f1ff
--- /dev/null
+++ b/worlds/kitchen.wbt
@@ -0,0 +1,5619 @@
+#VRML_SIM R2025a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/cabinet/protos/Cabinet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/cabinet/protos/CabinetHandle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/PaintedWood.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/Parquetry.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Ceiling.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Wall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Door.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/solids/protos/SolidBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Window.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/fridge/protos/Fridge.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/components/protos/Worktop.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/components/protos/Sink.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/components/protos/HotPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/oven/protos/Oven.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/tables/protos/Table.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/lights/protos/CeilingLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/chairs/protos/Chair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/drinks/protos/WaterBottle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/drinks/protos/BeerBottle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/drinks/protos/Can.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/fruits/protos/FruitBowl.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/fruits/protos/Apple.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/fruits/protos/Orange.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Cookware.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Lid.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/WoodenSpoon.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Fork.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Spoon.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Knife.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Plate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Glass.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/utensils/protos/Wineglass.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/breakfast/protos/JamJar.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/breakfast/protos/CerealBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/breakfast/protos/BiscuitBox.proto"
+
+WorldInfo {
+}
+Viewpoint {
+  fieldOfView 1.1
+  orientation -0.35488091641897646 0.7097338074471187 0.6085535783546454 0.8452267645991323
+  position -4.039714902842683 -4.485754652360901 5.899328971674738
+  exposure 0.7999999999999999
+}
+TexturedBackground {
+  texture "empty_office"
+  skybox FALSE
+  skyColor [
+    0.2 0.2 0.2
+  ]
+}
+Cabinet {
+  translation 2.15 -1 0.83
+  rotation 0 0 1 3.14159
+  name "cabinet(1)"
+  depth 0.7
+  outerThickness 0.02
+  rowsHeights [
+    0.2, 0.2, 0.2, 0.2, 0.2, 0.34
+  ]
+  columnsWidths [
+    0.4
+  ]
+  layout [
+    "LeftSidedDoor (1, 1, 1, 6, 1.5)"
+    "Shelf (1,2, 1, 0)"
+    "Shelf (1,3, 1, 0)"
+    "Shelf (1,4, 1, 0)"
+    "Shelf (1,5, 1, 0)"
+    "Shelf (1,6, 1, 0)"
+  ]
+  handle CabinetHandle {
+    translation 0 0 -0.3
+    handleLength 0.1
+    handleRadius 0.008
+    handleColor 0.427451 0.513725 0.533333
+  }
+  primaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+  secondaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+}
+Cabinet {
+  translation -0.11 1.65 0.15
+  rotation 0 0 1 -1.5707953071795862
+  name "cabinet(2)"
+  depth 0.67
+  outerThickness 0.02
+  rowsHeights [
+    0.68, 0.25, 0.25, 0.25, 0.25, 0.34
+  ]
+  columnsWidths [
+    0.44
+  ]
+  layout [
+    "RightSidedDoor (1, 2, 1, 3, 1.5)"
+    "RightSidedDoor (1, 5, 1, 2, 1.5)"
+    "Shelf (1,2, 1, 0)"
+    "Shelf (1,3, 1, 0)"
+    "Shelf (1,4, 1, 0)"
+    "Shelf (1,5, 1, 0)"
+    "Shelf (1,6, 1, 0)"
+  ]
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+    translation 0 -0.15 0
+    handleLength 0.1
+    handleRadius 0.008
+    handleColor 0.427451 0.513725 0.533333
+  }
+  primaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+  secondaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+}
+Cabinet {
+  translation 2.15 -0.1 1.4
+  rotation 0 0 1 3.14159
+  name "cabinet(3)"
+  outerThickness 0.02
+  rowsHeights [
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+  ]
+  columnsWidths [
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+  ]
+  layout [
+    "RightSidedDoor (1, 1, 1, 3, 1.5)"
+    "LeftSidedDoor (2, 1, 1, 3, 1.5)"
+    "LeftSidedDoor (3, 1, 1, 3, 1.5)"
+    "Shelf (1, 2, 3, 0)"
+    "Shelf (1, 3, 2, 0)"
+    "Shelf (1, 1, 0, 1)"
+    "Shelf (2, 1, 0, 3)"
+  ]
+  handle CabinetHandle {
+    translation 0 -0.2 0
+    handleLength 0.1
+    handleRadius 0.008
+    handleColor 0.427451 0.513725 0.533333
+  }
+  primaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+  secondaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+}
+Cabinet {
+  translation 0.37 1.647 1.4
+  rotation 0 0 1 -1.5707953071795862
+  name "cabinet(4)"
+  outerThickness 0.02
+  rowsHeights [
+    0.21, 0.21, 0.22
+  ]
+  columnsWidths [
+    0.44
+  ]
+  layout [
+    "RightSidedDoor (1, 1, 1, 3, 1.5)"
+    "Shelf (1, 2 ,1 , 0)"
+    "Shelf (1, 3 ,1 , 0)"
+  ]
+  handle CabinetHandle {
+    translation 0 -0.2 0
+    handleLength 0.1
+    handleRadius 0.008
+    handleColor 0.427451 0.513725 0.533333
+  }
+  primaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+  secondaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+}
+Cabinet {
+  translation 0.79 1.48 0.15
+  rotation 0 0 1 -1.5707953071795862
+  name "cabinet(5)"
+  outerThickness 0.02
+  rowsHeights [
+    0.21, 0.21, 0.22
+  ]
+  columnsWidths [
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+  ]
+  layout [
+    "RightSidedDoor (2, 1, 1, 3, 1.5)"
+    "LeftSidedDoor (3, 1, 1, 3, 1.5)"
+    "RightSidedDoor (1, 1, 1, 3, 1.5)"
+    "Shelf (1, 2, 1, 0)"
+    "Shelf (1, 3, 1, 0)"
+    "Shelf (1, 1, 0, 3)"
+    "Shelf (2, 1, 0, 3)"
+  ]
+  handle CabinetHandle {
+    translation 0 0 0.1
+    handleLength 0.1
+    handleRadius 0.008
+    handleColor 0.427451 0.513725 0.533333
+  }
+  primaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+  secondaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+}
+Cabinet {
+  translation 2.15 -0.12 0.15
+  rotation 0 0 1 3.14159
+  depth 0.7
+  outerThickness 0.02
+  rowsHeights [
+    0.25, 0.25, 0.14
+  ]
+  columnsWidths [
+    0.76, 0.54, 0.43, 0.43
+  ]
+  layout [
+    "LeftSidedDoor (2, 1, 1, 2, 1.5)"
+    "LeftSidedDoor (4, 1, 1, 3, 1.5)"
+    "RightSidedDoor (3, 1, 1, 3, 1.5)"
+    "Drawer (1, 1, 1, 1, 3.5)"
+    "Drawer (1, 2, 1, 1, 3.5)"
+    "Drawer (1, 3, 1, 1, 3.5)"
+    "Drawer (2, 3, 1, 1, 3.5)"
+    "Shelf (1, 2, 1, 0)"
+    "Shelf (1, 3, 2, 0)"
+    "Shelf (3, 2, 2, 0)"
+    "Shelf (1, 1, 0, 3)"
+    "Shelf (2, 1, 0, 3)"
+    "Shelf (3, 1, 0, 1)"
+  ]
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+    handleLength 0.1
+    handleRadius 0.008
+    handleColor 0.427451 0.513725 0.533333
+  }
+  primaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
+  }
+  secondaryAppearance PaintedWood {
+    colorOverride 0.2 0.2 0.2
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+}
+Floor {
+  translation 0 -0.17 0
+  rotation 0 0 1 1.5708
+  name "floor(1)"
+  size 3.6666 4.5
+  tileSize 1 1
+  appearance Parquetry {
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+}
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+  rotation 0 0 1 1.5708
+  size 2 3.5
+  tileSize 1 1
+  appearance Parquetry {
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+}
+Ceiling {
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+  size 4.7 5.9
+}
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+  rotation 0 0 1 1.5708
+  name "wall(1)"
+  size 0.2 0.7 2.4
+}
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+  rotation 0 0 1 3.1416
+  name "wall(2)"
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+}
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+  rotation 0 0 1 1.5708
+  name "wall(3)"
+  size 0.2 2.8 2.4
+}
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+  translation -2.25 1.35 0
+  name "wall(4)"
+}
+Wall {
+  translation -2.25 -0.45 0
+  name "wall(5)"
+}
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+  name "wall(6)"
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+}
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+  name "wall(7)"
+  size 3.3 0.2 2.4
+}
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+  name "wall(8)"
+  size 0.2 2.07 2.4
+}
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+  rotation 0 0 1 4.71239
+  size 0.2 0.8 2.4
+}
+Door {
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+}
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+  name "box(1)"
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+  appearance PBRAppearance {
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+    roughness 0.5
+    metalness 0
+    textureTransform TextureTransform {
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+}
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+  name "box(2)"
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+  appearance PBRAppearance {
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+    metalness 0
+    textureTransform TextureTransform {
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+}
+SolidBox {
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+  name "box(3)"
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+  appearance PBRAppearance {
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+    metalness 0
+    textureTransform TextureTransform {
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+}
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+  name "box(4)"
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+  appearance PBRAppearance {
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+    metalness 0
+    textureTransform TextureTransform {
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+}
+SolidBox {
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+}
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+}
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+}
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+}
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+}
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+}
+Window {
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+  rotation 0 0 1 3.14159
+  name "window(1)"
+  bottomWallHeight 0.9
+  windowHeight 1
+  windowSillSize 0.01 0.05
+}
+Window {
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+  rotation 0 0 1 1.5708
+  bottomWallHeight 1.2
+  windowHeight 1
+  windowSillSize 0.01 0.05
+}
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+}
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+  rotation 0 0 1 4.71239
+  name "worktop(1)"
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+}
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+  rotation 0 0 1 4.71239
+  name "worktop(2)"
+  size 0.237 0.44 0.06
+}
+Worktop {
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+  rotation 0 0 1 4.71239
+  name "worktop(3)"
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+}
+Worktop {
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+  rotation 0 0 -1 1.5708
+  name "worktop(4)"
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+}
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+  size 0.7 2.43 0.06
+}
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+  rotation 0 0 1 4.71239
+}
+HotPlate {
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+  rotation 0 0 -1 5.49779
+}
+Oven {
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+  rotation 0 0 1 -1.5707953071795862
+}
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+  children [
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+        baseColorMap ImageTexture {
+          url [
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+          ]
+        }
+        roughness 0.5
+        metalness 0
+      }
+      geometry Box {
+        size 0.45 0.35 0.61
+      }
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+  name "solid(1)"
+}
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+  rotation 0 0 -1 5.89049
+  children [
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+        baseColor 0.8 0.8 0.8
+        baseColorMap ImageTexture {
+          url [
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+          ]
+        }
+        roughness 0.5
+        metalness 0
+      }
+      geometry Cylinder {
+        height 0.1
+        radius 0.35
+        subdivision 8
+      }
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+  name "solid(2)"
+}
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+  children [
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+        baseColor 0.8 0.8 0.8
+        baseColorMap ImageTexture {
+          url [
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+          ]
+        }
+        roughness 0.5
+        metalness 0
+      }
+      geometry Cylinder {
+        height 0.001
+        radius 0.27
+        subdivision 8
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+}
+Table {
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+  rotation 0 0 1 3.14159
+  name "table(1)"
+  size 1.7 0.6 0.8
+}
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+  rotation 0 0 1 6.28319
+}
+CeilingLight {
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+  pointLightColor 1 0.9764705882352941 0.9058823529411765
+  pointLightIntensity 4
+}
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+  name "chair(1)"
+}
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+  rotation 0 0 -1 -1.5707953071795862
+  name "chair(2)"
+}
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+  name "chair(4)"
+}
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+}
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+  rotation -0.7148233461993952 0.11131105390957045 0.6903893343656462 -2.72186
+  name "water bottle(1)"
+}
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+  name "water bottle(2)"
+}
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+  rotation 0.327161956995545 -0.8562248874518146 -0.39980494744684253 1.76379
+  name "water bottle(3)"
+}
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+  rotation -0.06938932011365996 0.9947242883375433 0.07555602190118206 -1.57784
+  name "water bottle(4)"
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+  name "beer bottle(1)"
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+                ]
+                creaseAngle 0.7
+              }
+            }
+            DEF TORSO_LIFT_JOINT SliderJoint {
+              jointParameters JointParameters {
+                dampingConstant 1000
+              }
+              device [
+                LinearMotor {
+                  name "torso_lift_joint"
+                  maxVelocity 0.07
+                  maxPosition 0.35
+                  maxForce 2000
+                }
+                PositionSensor {
+                  name "torso_lift_joint_sensor"
+                }
+              ]
+              endPoint DEF TORSO_LIFT Solid {
+                translation 0 0 0.6
+                rotation 0.9273089253913606 0.09850094807618788 0.3611034756376796 0
+                children [
+                  DEF ARM_RIGHT_EXTENSION Pose {
+                    translation 0.05 0 0
+                    rotation 0 0 1 3.1416
+                    children [
+                      Slot {
+                        type "tiago right arm"
+                      }
+                    ]
+                  }
+                  DEF ARM_FRONT_EXTENSION Pose {
+                    translation -0.037 0.0388 0.0224
+                    rotation 0 0 1 -1.5708
+                    children [
+                      Slot {
+                        type "tiago front arm"
+                        endPoint Slot {
+                          type "tiago front arm"
+                          endPoint Solid {
+                            children [
+                              DEF SHOULDER Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.823529 0.776471 0.776471
+                                  baseColorMap ImageTexture {
+                                    url [
+                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                    ]
+                                    filtering 5
+                                  }
+                                  roughnessMap ImageTexture {
+                                    url [
+                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                    ]
+                                    filtering 5
+                                  }
+                                  metalness 0
+                                  IBLStrength 1.8
+                                  normalMap ImageTexture {
+                                    url [
+                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                    ]
+                                    filtering 5
+                                  }
+                                  normalMapFactor 0.5
+                                  textureTransform TextureTransform {
+                                    scale 4 4
+                                  }
+                                }
+                                geometry Mesh {
+                                  url [
+                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/shoulder.obj"
+                                  ]
+                                }
+                              }
+                              DEF ARM_1_JOINT HingeJoint {
+                                jointParameters HingeJointParameters {
+                                  position 0.071
+                                  axis 0 0 1
+                                  anchor 0.025 0.194 -0.16
+                                  dampingConstant 1
+                                  staticFriction 1
+                                }
+                                device [
+                                  RotationalMotor {
+                                    name "arm_1_joint"
+                                    maxVelocity 1.95
+                                    minPosition 0.07
+                                    maxPosition 2.68
+                                    maxTorque 43
+                                  }
+                                  PositionSensor {
+                                    name "arm_1_joint_sensor"
+                                  }
+                                ]
+                                endPoint DEF ARM_1 Solid {
+                                  translation 0.0251 0.194 -0.171
+                                  rotation 0 0 1 0.01000000000000101
+                                  children [
+                                    DEF ARM_1_SH1 Shape {
+                                      appearance PBRAppearance {
+                                        baseColor 0.823529 0.776471 0.776471
+                                        baseColorMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        roughnessMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        metalness 0
+                                        IBLStrength 1.8
+                                        normalMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        normalMapFactor 0.5
+                                        textureTransform TextureTransform {
+                                          scale 4 4
+                                        }
+                                      }
+                                      geometry Mesh {
+                                        url [
+                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_1_sh1.obj"
+                                        ]
+                                      }
+                                    }
+                                    DEF ARM_1_SH2 Shape {
+                                      appearance PBRAppearance {
+                                        baseColor 0.133333 0.133333 0.133333
+                                        baseColorMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        roughnessMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        metalness 0
+                                        normalMapFactor 0.5
+                                        textureTransform TextureTransform {
+                                          scale 10 10
+                                        }
+                                      }
+                                      geometry Mesh {
+                                        url [
+                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_1_sh2.obj"
+                                        ]
+                                      }
+                                    }
+                                    DEF ARM_1_SH3 Shape {
+                                      appearance PBRAppearance {
+                                        baseColor 0.823529 0.776471 0.776471
+                                        baseColorMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        roughnessMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        metalness 0
+                                        IBLStrength 1.8
+                                        normalMap ImageTexture {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                          ]
+                                          filtering 5
+                                        }
+                                        normalMapFactor 0.5
+                                        textureTransform TextureTransform {
+                                          scale 4 4
+                                        }
+                                      }
+                                      geometry Mesh {
+                                        url [
+                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_1_sh3.obj"
+                                        ]
+                                      }
+                                    }
+                                    DEF ARM_2_JOINT HingeJoint {
+                                      jointParameters HingeJointParameters {
+                                        axis 0 -1 0
+                                        anchor 0.125 0.0195 -0.031
+                                        dampingConstant 1
+                                        staticFriction 1
+                                      }
+                                      device [
+                                        RotationalMotor {
+                                          name "arm_2_joint"
+                                          maxVelocity 1.95
+                                          minPosition -1.5
+                                          maxPosition 1.02
+                                          maxTorque 43
+                                        }
+                                        PositionSensor {
+                                          name "arm_2_joint_sensor"
+                                        }
+                                      ]
+                                      endPoint DEF ARM_2 Solid {
+                                        translation 0.125 0.018 -0.031
+                                        rotation 1 0 0 1.5708
+                                        children [
+                                          DEF ARM_2_SH1 Shape {
+                                            appearance PBRAppearance {
+                                              baseColor 0.133333 0.133333 0.133333
+                                              baseColorMap ImageTexture {
+                                                url [
+                                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                ]
+                                                filtering 5
+                                              }
+                                              roughnessMap ImageTexture {
+                                                url [
+                                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                                                ]
+                                                filtering 5
+                                              }
+                                              metalness 0
+                                              normalMapFactor 0.5
+                                              textureTransform TextureTransform {
+                                                scale 10 10
+                                              }
+                                            }
+                                            geometry Mesh {
+                                              url [
+                                                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_2_sh1.obj"
+                                              ]
+                                            }
+                                          }
+                                          DEF ARM_3_JOINT HingeJoint {
+                                            jointParameters HingeJointParameters {
+                                              axis -1 0 0
+                                              anchor 0.0895 0 -0.0015
+                                              dampingConstant 1
+                                              staticFriction 1
+                                            }
+                                            device [
+                                              RotationalMotor {
+                                                name "arm_3_joint"
+                                                maxVelocity 2.35
+                                                minPosition -3.46
+                                                maxPosition 1.5
+                                                maxTorque 26
+                                              }
+                                              PositionSensor {
+                                                name "arm_3_joint_sensor"
+                                              }
+                                            ]
+                                            endPoint DEF ARM_3 Solid {
+                                              translation 0.0872 0 -0.0015
+                                              rotation -0.577416935887098 -0.5773169329539689 0.5773169329539689 2.09446
+                                              children [
+                                                DEF ARM_3_SH1 Shape {
+                                                  appearance PBRAppearance {
+                                                    baseColor 0.0470588 0.0470588 0.0470588
+                                                    baseColorMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    roughnessMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    metalness 0
+                                                    normalMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    normalMapFactor 0.5
+                                                    textureTransform TextureTransform {
+                                                      scale 10 10
+                                                    }
+                                                  }
+                                                  geometry Mesh {
+                                                    url [
+                                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_3_sh1.obj"
+                                                    ]
+                                                  }
+                                                }
+                                                DEF ARM_3_SH2 Shape {
+                                                  appearance PBRAppearance {
+                                                    baseColor 0.0470588 0.0470588 0.0470588
+                                                    baseColorMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    roughnessMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    metalness 0
+                                                    normalMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    normalMapFactor 0.5
+                                                    textureTransform TextureTransform {
+                                                      scale 10 10
+                                                    }
+                                                  }
+                                                  geometry Mesh {
+                                                    url [
+                                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_3_sh2.obj"
+                                                    ]
+                                                  }
+                                                }
+                                                DEF ARM_3_SH3 Shape {
+                                                  appearance PBRAppearance {
+                                                    baseColor 0.133333 0.133333 0.133333
+                                                    baseColorMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    roughnessMap ImageTexture {
+                                                      url [
+                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                                                      ]
+                                                      filtering 5
+                                                    }
+                                                    metalness 0
+                                                    normalMapFactor 0.5
+                                                    textureTransform TextureTransform {
+                                                      scale 10 10
+                                                    }
+                                                  }
+                                                  geometry Mesh {
+                                                    url [
+                                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_3_sh3.obj"
+                                                    ]
+                                                  }
+                                                }
+                                                DEF ARM_4_JOINT HingeJoint {
+                                                  jointParameters HingeJointParameters {
+                                                    axis 0 1 0
+                                                    anchor -0.02 -0.027 -0.222
+                                                    dampingConstant 1
+                                                    staticFriction 1
+                                                  }
+                                                  device [
+                                                    RotationalMotor {
+                                                      name "arm_4_joint"
+                                                      maxVelocity 2.35
+                                                      minPosition -0.32
+                                                      maxPosition 2.29
+                                                      maxTorque 26
+                                                    }
+                                                    PositionSensor {
+                                                      name "arm_4_joint_sensor"
+                                                    }
+                                                  ]
+                                                  endPoint DEF ARM_4 Solid {
+                                                    translation -0.02 -0.027 -0.222
+                                                    rotation -0.5773502691896258 -0.5773502691896258 -0.5773502691896258 2.0944
+                                                    children [
+                                                      DEF ARM_4_SH1 Shape {
+                                                        appearance PBRAppearance {
+                                                          baseColor 0.133333 0.133333 0.133333
+                                                          baseColorMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          roughnessMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          metalness 0
+                                                          normalMapFactor 0.5
+                                                          textureTransform TextureTransform {
+                                                            scale 10 10
+                                                          }
+                                                        }
+                                                        geometry Mesh {
+                                                          url [
+                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_4_sh1.obj"
+                                                          ]
+                                                        }
+                                                      }
+                                                      DEF ARM_4_SH2 Shape {
+                                                        appearance PBRAppearance {
+                                                          baseColor 0.0470588 0.0470588 0.0470588
+                                                          baseColorMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          roughnessMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          metalness 0
+                                                          normalMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          normalMapFactor 0.5
+                                                          textureTransform TextureTransform {
+                                                            scale 10 10
+                                                          }
+                                                        }
+                                                        geometry Mesh {
+                                                          url [
+                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_4_sh2.obj"
+                                                          ]
+                                                        }
+                                                      }
+                                                      DEF ARM_4_SH3 Shape {
+                                                        appearance PBRAppearance {
+                                                          baseColor 0.0470588 0.0470588 0.0470588
+                                                          baseColorMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          roughnessMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          metalness 0
+                                                          normalMap ImageTexture {
+                                                            url [
+                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                            ]
+                                                            filtering 5
+                                                          }
+                                                          normalMapFactor 0.5
+                                                          textureTransform TextureTransform {
+                                                            scale 10 10
+                                                          }
+                                                        }
+                                                        geometry Mesh {
+                                                          url [
+                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_4_sh3.obj"
+                                                          ]
+                                                        }
+                                                      }
+                                                      DEF ARM_5_JOINT HingeJoint {
+                                                        jointParameters HingeJointParameters {
+                                                          axis -1 0 0
+                                                          anchor -0.162 0.02 0.027
+                                                          dampingConstant 1
+                                                          staticFriction 1
+                                                        }
+                                                        device [
+                                                          RotationalMotor {
+                                                            name "arm_5_joint"
+                                                            maxVelocity 1.95
+                                                            minPosition -2.07
+                                                            maxPosition 2.07
+                                                            maxTorque 3
+                                                          }
+                                                          PositionSensor {
+                                                            name "arm_5_joint_sensor"
+                                                          }
+                                                        ]
+                                                        endPoint DEF ARM_5 Solid {
+                                                          translation -0.162 0.02 0.027
+                                                          rotation 0 -1 0 1.5708
+                                                          children [
+                                                            DEF ARM_5_SH1 Shape {
+                                                              appearance PBRAppearance {
+                                                                baseColor 0.823529 0.776471 0.776471
+                                                                baseColorMap ImageTexture {
+                                                                  url [
+                                                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                                  ]
+                                                                  filtering 5
+                                                                }
+                                                                roughnessMap ImageTexture {
+                                                                  url [
+                                                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                                  ]
+                                                                  filtering 5
+                                                                }
+                                                                metalness 0
+                                                                IBLStrength 1.8
+                                                                normalMap ImageTexture {
+                                                                  url [
+                                                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                                  ]
+                                                                  filtering 5
+                                                                }
+                                                                normalMapFactor 0.5
+                                                                textureTransform TextureTransform {
+                                                                  scale 4 4
+                                                                }
+                                                              }
+                                                              geometry Mesh {
+                                                                url [
+                                                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_5_sh1.obj"
+                                                                ]
+                                                              }
+                                                            }
+                                                            DEF ARM_6_JOINT HingeJoint {
+                                                              jointParameters HingeJointParameters {
+                                                                axis 0 1 0
+                                                                anchor 0 0 0.15
+                                                                dampingConstant 1
+                                                                staticFriction 1
+                                                              }
+                                                              device [
+                                                                RotationalMotor {
+                                                                  name "arm_6_joint"
+                                                                  maxVelocity 1.76
+                                                                  minPosition -1.39
+                                                                  maxPosition 1.39
+                                                                  maxTorque 6.6
+                                                                }
+                                                                PositionSensor {
+                                                                  name "arm_6_joint_sensor"
+                                                                }
+                                                              ]
+                                                              endPoint DEF ARM_6 Solid {
+                                                                translation 0 0 0.15
+                                                                rotation -0.5773502691896258 -0.5773502691896258 -0.5773502691896258 2.0944
+                                                                children [
+                                                                  DEF ARM_6_SH1 Shape {
+                                                                    appearance PBRAppearance {
+                                                                      baseColor 0.823529 0.776471 0.776471
+                                                                      baseColorMap ImageTexture {
+                                                                        url [
+                                                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                                        ]
+                                                                        filtering 5
+                                                                      }
+                                                                      roughnessMap ImageTexture {
+                                                                        url [
+                                                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                                        ]
+                                                                        filtering 5
+                                                                      }
+                                                                      metalness 0
+                                                                      IBLStrength 1.8
+                                                                      normalMap ImageTexture {
+                                                                        url [
+                                                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                                        ]
+                                                                        filtering 5
+                                                                      }
+                                                                      normalMapFactor 0.5
+                                                                      textureTransform TextureTransform {
+                                                                        scale 4 4
+                                                                      }
+                                                                    }
+                                                                    geometry Mesh {
+                                                                      url [
+                                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_6_sh1.obj"
+                                                                      ]
+                                                                    }
+                                                                  }
+                                                                  DEF ARM_7_JOINT HingeJoint {
+                                                                    jointParameters HingeJointParameters {
+                                                                      dampingConstant 1
+                                                                      staticFriction 1
+                                                                    }
+                                                                    device [
+                                                                      RotationalMotor {
+                                                                        name "arm_7_joint"
+                                                                        maxVelocity 1.76
+                                                                        minPosition -2.07
+                                                                        maxPosition 2.07
+                                                                        maxTorque 6.6
+                                                                      }
+                                                                      PositionSensor {
+                                                                        name "arm_7_joint_sensor"
+                                                                      }
+                                                                    ]
+                                                                    endPoint DEF WRIST Solid {
+                                                                      translation 0.055 0 0
+                                                                      rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 2.0944
+                                                                      children [
+                                                                        Pose {
+                                                                          rotation 1 0 0 1.570796
+                                                                          children [
+                                                                            DEF ARM_7_SH1 Shape {
+                                                                              appearance PBRAppearance {
+                                                                                baseColor 0.823529 0.776471 0.776471
+                                                                                baseColorMap ImageTexture {
+                                                                                  url [
+                                                                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                                                  ]
+                                                                                  filtering 5
+                                                                                }
+                                                                                roughnessMap ImageTexture {
+                                                                                  url [
+                                                                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                                                  ]
+                                                                                  filtering 5
+                                                                                }
+                                                                                metalness 0
+                                                                                IBLStrength 1.8
+                                                                                normalMap ImageTexture {
+                                                                                  url [
+                                                                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                                                  ]
+                                                                                  filtering 5
+                                                                                }
+                                                                                normalMapFactor 0.5
+                                                                                textureTransform TextureTransform {
+                                                                                  scale 4 4
+                                                                                }
+                                                                              }
+                                                                              geometry Mesh {
+                                                                                url [
+                                                                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/arm_7_sh1.obj"
+                                                                                ]
+                                                                              }
+                                                                            }
+                                                                          ]
+                                                                        }
+                                                                        DEF WRIST_CONNECTOR Solid {
+                                                                          translation 0 0 0.012725
+                                                                          rotation -0.5773502691896257 -0.5773502691896257 -0.5773502691896257 2.0944
+                                                                          children [
+                                                                            Pose {
+                                                                              rotation 0 0 1 -1.5708
+                                                                              children [
+                                                                                Slot {
+                                                                                  type "tiago hand"
+                                                                                  endPoint Slot {
+                                                                                    type "tiago hand"
+                                                                                    endPoint Solid {
+                                                                                      translation 0 0.016 0
+                                                                                      rotation 0.5773502691896257 0.5773502691896257 -0.5773502691896257 2.0944
+                                                                                      children [
+                                                                                        DEF GRIPPER_FRAME Group {
+                                                                                          children [
+                                                                                            DEF INSIDE_1 Pose {
+                                                                                              translation 0.002 0.0097 -0.093
+                                                                                              children [
+                                                                                                Shape {
+                                                                                                  appearance PBRAppearance {
+                                                                                                    baseColor 0 0 0
+                                                                                                  }
+                                                                                                  geometry Box {
+                                                                                                    size 0.09 0.021 0.005
+                                                                                                  }
+                                                                                                }
+                                                                                              ]
+                                                                                            }
+                                                                                            DEF INSIDE_2 Pose {
+                                                                                              translation -0.002 -0.0097 -0.093
+                                                                                              children [
+                                                                                                Shape {
+                                                                                                  appearance PBRAppearance {
+                                                                                                    baseColor 0 0 0
+                                                                                                  }
+                                                                                                  geometry Box {
+                                                                                                    size 0.09 0.021 0.005
+                                                                                                  }
+                                                                                                }
+                                                                                              ]
+                                                                                            }
+                                                                                            DEF BLACK Pose {
+                                                                                              translation -0.005 0.0004 0.001
+                                                                                              children [
+                                                                                                DEF BLACK Shape {
+                                                                                                  appearance PBRAppearance {
+                                                                                                    baseColor 0.133333 0.133333 0.133333
+                                                                                                    baseColorMap ImageTexture {
+                                                                                                      url [
+                                                                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                                                                      ]
+                                                                                                      filtering 5
+                                                                                                    }
+                                                                                                    roughnessMap ImageTexture {
+                                                                                                      url [
+                                                                                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                                                                                                      ]
+                                                                                                      filtering 5
+                                                                                                    }
+                                                                                                    metalness 0
+                                                                                                    normalMapFactor 0.5
+                                                                                                    textureTransform TextureTransform {
+                                                                                                      scale 10 10
+                                                                                                    }
+                                                                                                  }
+                                                                                                  geometry IndexedFaceSet {
+                                                                                                    coord Coordinate {
+                                                                                                      point [
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+                                                                                                        ]
+                                                                                                        creaseAngle 0.57
+                                                                                                      }
+                                                                                                    }
+                                                                                                  ]
+                                                                                                }
+                                                                                                DEF CYLINDER Pose {
+                                                                                                  translation 0.0025 0 0
+                                                                                                  rotation 0 1 0 1.5708
+                                                                                                  children [
+                                                                                                    Shape {
+                                                                                                      appearance PBRAppearance {
+                                                                                                        baseColorMap ImageTexture {
+                                                                                                          url [
+                                                                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/screw_thread/screw_thread_base_color.jpg"
+                                                                                                          ]
+                                                                                                        }
+                                                                                                        roughnessMap ImageTexture {
+                                                                                                          url [
+                                                                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/screw_thread/screw_thread_roughness.jpg"
+                                                                                                          ]
+                                                                                                        }
+                                                                                                        normalMap ImageTexture {
+                                                                                                          url [
+                                                                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/screw_thread/screw_thread_normal.jpg"
+                                                                                                          ]
+                                                                                                        }
+                                                                                                        occlusionMap ImageTexture {
+                                                                                                          url [
+                                                                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/screw_thread/screw_thread_occlusion.jpg"
+                                                                                                          ]
+                                                                                                        }
+                                                                                                        textureTransform TextureTransform {
+                                                                                                          rotation 1.5708
+                                                                                                          scale 0.2 2
+                                                                                                        }
+                                                                                                      }
+                                                                                                      geometry Cylinder {
+                                                                                                        height 0.005
+                                                                                                        radius 0.0036
+                                                                                                      }
+                                                                                                    }
+                                                                                                  ]
+                                                                                                }
+                                                                                              ]
+                                                                                              name "cap screw(19)"
+                                                                                              model "cap screw"
+                                                                                            }
+                                                                                          ]
+                                                                                        }
+                                                                                        DEF LEFT_GRIPPER_JOINT SliderJoint {
+                                                                                          jointParameters JointParameters {
+                                                                                            axis -1 0 0
+                                                                                            dampingConstant 80
+                                                                                          }
+                                                                                          device [
+                                                                                            LinearMotor {
+                                                                                              name "gripper_left_finger_joint"
+                                                                                              maxVelocity 0.05
+                                                                                              maxPosition 0.045
+                                                                                              maxForce 16
+                                                                                            }
+                                                                                            PositionSensor {
+                                                                                              name "gripper_left_sensor_finger_joint"
+                                                                                            }
+                                                                                          ]
+                                                                                          endPoint DEF LEFT_GRIPPER Solid {
+                                                                                            rotation 0 0 1 3.1415
+                                                                                            children [
+                                                                                              DEF GRIPPER_SHAPE Group {
+                                                                                                children [
+                                                                                                  Shape {
+                                                                                                    appearance PBRAppearance {
+                                                                                                      baseColor 0.0470588 0.0470588 0.0470588
+                                                                                                      baseColorMap ImageTexture {
+                                                                                                        url [
+                                                                                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                                                                                        ]
+                                                                                                        filtering 5
+                                                                                                      }
+                                                                                                      roughnessMap ImageTexture {
+                                                                                                        url [
+                                                                                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                                                                                        ]
+                                                                                                        filtering 5
+                                                                                                      }
+                                                                                                      metalness 0
+                                                                                                      normalMap ImageTexture {
+                                                                                                        url [
+                                                                                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                                                                                        ]
+                                                                                                        filtering 5
+                                                                                                      }
+                                                                                                      normalMapFactor 0.5
+                                                                                                      textureTransform TextureTransform {
+                                                                                                        scale 10 10
+                                                                                                      }
+                                                                                                    }
+                                                                                                    geometry IndexedFaceSet {
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+                                                                                            boundingObject DEF GRIPPER_BO Group {
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+                                                                                                  children [
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+                                                                                            physics DEF GRIPPER_PHYSIC Physics {
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+                                                                                              mass 0.10998
+                                                                                            }
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+                                                                                        DEF RIGHT_GRIPPER_JOINT SliderJoint {
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+                                                                                            dampingConstant 80
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+                                                                                            }
+                                                                                            PositionSensor {
+                                                                                              name "gripper_right_sensor_finger_joint"
+                                                                                            }
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+                                                                                          endPoint DEF RIGHT_GRIPPER Solid {
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+                                                                                              Pose {
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+                                                                                                  children [
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+                                                                                                    }
+                                                                                                  ]
+                                                                                                  translationStep 0.0001
+                                                                                                }
+                                                                                              ]
+                                                                                            }
+                                                                                            physics DEF GRIPPER_PHYSIC Physics {
+                                                                                              density -1
+                                                                                              mass 0.10998
+                                                                                            }
+                                                                                          }
+                                                                                        }
+                                                                                      ]
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+                                                                                            rotation 0 0 -1 -0.59
+                                                                                            children [
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+                                                                                              }
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+                                                                              children [
+                                                                                Shape {
+                                                                                  appearance PBRAppearance {
+                                                                                    baseColorMap ImageTexture {
+                                                                                      url [
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+                                                                                      ]
+                                                                                    }
+                                                                                    roughnessMap ImageTexture {
+                                                                                      url [
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+                                                                                      ]
+                                                                                    }
+                                                                                    normalMap ImageTexture {
+                                                                                      url [
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+                                                                                    textureTransform TextureTransform {
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+                                                                                    }
+                                                                                  }
+                                                                                  geometry Mesh {
+                                                                                    url [
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+                                                                                    ]
+                                                                                  }
+                                                                                }
+                                                                              ]
+                                                                            }
+                                                                          ]
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+                                                                          boundingObject Pose {
+                                                                            rotation 0 1 0 1.57
+                                                                            children [
+                                                                              Cylinder {
+                                                                                height 0.011
+                                                                                radius 0.0253
+                                                                              }
+                                                                            ]
+                                                                          }
+                                                                          physics Physics {
+                                                                            density -1
+                                                                            mass 0.1
+                                                                          }
+                                                                        }
+                                                                      ]
+                                                                      name "arm_7_link"
+                                                                      boundingObject Pose {
+                                                                        rotation 0 0 1 1.5708
+                                                                        children [
+                                                                          Cylinder {
+                                                                            height 0.0157
+                                                                            radius 0.0225
+                                                                          }
+                                                                        ]
+                                                                      }
+                                                                      physics Physics {
+                                                                        density -1
+                                                                        mass 0.234
+                                                                      }
+                                                                      translationStep 0.001
+                                                                    }
+                                                                  }
+                                                                ]
+                                                                name "arm_6_link"
+                                                                boundingObject Pose {
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+                                                                  rotation 0 1 0 1.5708
+                                                                  children [
+                                                                    Cylinder {
+                                                                      height 0.013
+                                                                      radius 0.0226
+                                                                    }
+                                                                  ]
+                                                                }
+                                                                physics Physics {
+                                                                  density -1
+                                                                  mass 0.370063
+                                                                }
+                                                              }
+                                                            }
+                                                          ]
+                                                          name "arm_5_link"
+                                                          boundingObject Group {
+                                                            children [
+                                                              Pose {
+                                                                translation 0 0 0.04
+                                                                rotation 0 0 1 1.57
+                                                                children [
+                                                                  Cylinder {
+                                                                    height 0.062
+                                                                    radius 0.063
+                                                                  }
+                                                                ]
+                                                              }
+                                                              Pose {
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+                                                                rotation 0 0 1 1.57
+                                                                children [
+                                                                  Cylinder {
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+                                                                    radius 0.057
+                                                                  }
+                                                                ]
+                                                              }
+                                                              Pose {
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+                                                                rotation 0 0 1 1.57
+                                                                children [
+                                                                  Cylinder {
+                                                                    height 0.06
+                                                                    radius 0.053
+                                                                  }
+                                                                ]
+                                                              }
+                                                            ]
+                                                          }
+                                                          physics Physics {
+                                                            density -1
+                                                            mass 1.655819
+                                                          }
+                                                        }
+                                                      }
+                                                    ]
+                                                    name "arm_4_link"
+                                                    boundingObject Group {
+                                                      children [
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+                                                          rotation 0 0 1 1.5708
+                                                          children [
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+                                                          rotation 0 1 0 1.5708
+                                                          children [
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+                                                      ]
+                                                    }
+                                                    physics Physics {
+                                                      density -1
+                                                      mass 1.432697
+                                                    }
+                                                  }
+                                                }
+                                              ]
+                                              name "arm_3_link"
+                                              boundingObject Group {
+                                                children [
+                                                  Pose {
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+                                                    rotation 0 0 1 -1.5708
+                                                    children [
+                                                      Cylinder {
+                                                        height 0.23
+                                                        radius 0.053
+                                                      }
+                                                    ]
+                                                  }
+                                                  Pose {
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+                                                    rotation 1 0 0 1.5708
+                                                    children [
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+                                                        height 0.056
+                                                        radius 0.056
+                                                      }
+                                                    ]
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+                                              physics Physics {
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+                                                mass 2.343502
+                                              }
+                                              translationStep 0.0001
+                                            }
+                                          }
+                                        ]
+                                        name "arm_2_link"
+                                        boundingObject Group {
+                                          children [
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+                                              rotation 0 1 0 -1.5708
+                                              children [
+                                                Cylinder {
+                                                  height 0.048
+                                                  radius 0.052
+                                                }
+                                              ]
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+                                            Pose {
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+                                              rotation 0 0 1 -1.5708
+                                              children [
+                                                Cylinder {
+                                                  height 0.057
+                                                  radius 0.053
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+                                            }
+                                          ]
+                                        }
+                                        physics Physics {
+                                          density -1
+                                          mass 1.800397
+                                        }
+                                      }
+                                    }
+                                  ]
+                                  name "TIAGo front arm"
+                                  boundingObject Group {
+                                    children [
+                                      Pose {
+                                        translation 0 0 0.013
+                                        rotation 0 0 1 1.5708
+                                        children [
+                                          Cylinder {
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+                                            radius 0.0522
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+                                        ]
+                                      }
+                                      Pose {
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+                                        children [
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+                                          }
+                                        ]
+                                      }
+                                      Pose {
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+                                        children [
+                                          Box {
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+                                          }
+                                        ]
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+                                      Pose {
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+                                        rotation 1 0 0 1.5708
+                                        children [
+                                          Cylinder {
+                                            height 0.069
+                                            radius 0.053
+                                          }
+                                        ]
+                                      }
+                                    ]
+                                  }
+                                  physics Physics {
+                                    density -1
+                                    mass 1.563428
+                                  }
+                                }
+                              }
+                            ]
+                            name "TIAGo front arm"
+                            boundingObject Group {
+                              children [
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+                                  translation 0.026 0.14 -0.232
+                                  rotation 0 0 1 1.5708
+                                  children [
+                                    Box {
+                                      size 0.042 0.094 0.094
+                                    }
+                                  ]
+                                }
+                                DEF SHOULDER_SH2 Pose {
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+                                  rotation 1 0 0 0.261799
+                                  children [
+                                    Cylinder {
+                                      height 0.016
+                                      radius 0.053
+                                    }
+                                  ]
+                                  translationStep 0.001
+                                }
+                                DEF SHOULDER_SH3 Pose {
+                                  translation 0.026 0.19 -0.221
+                                  rotation 0 0 1 -1.5708
+                                  children [
+                                    Cylinder {
+                                      height 0.075
+                                      radius 0.053
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+                                  ]
+                                  translationStep 0.001
+                                }
+                              ]
+                            }
+                            physics Physics {
+                              density -1
+                              mass 6.93198
+                            }
+                          }
+                        }
+                      }
+                    ]
+                  }
+                  DEF ARM_LEFT_EXTENSION Pose {
+                    children [
+                      Slot {
+                        type "tiago left arm"
+                      }
+                    ]
+                  }
+                  DEF INPUT_OUTPUT Shape {
+                    appearance PBRAppearance {
+                      baseColorMap ImageTexture {
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+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago_extensions/protos/textures/tiago_electronic_base_color.jpg"
+                        ]
+                      }
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+                      metalness 0
+                      textureTransform TextureTransform {
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+                      ]
+                      creaseAngle 0.096
+                    }
+                  }
+                  DEF NECK_JOINT HingeJoint {
+                    jointParameters HingeJointParameters {
+                      axis 0 0 1
+                      anchor 0.182 0 0
+                      dampingConstant 0.5
+                      staticFriction 1
+                    }
+                    device [
+                      RotationalMotor {
+                        name "head_1_joint"
+                        maxVelocity 3
+                        minPosition -1.24
+                        maxPosition 1.24
+                        maxTorque 5.197
+                      }
+                      PositionSensor {
+                        name "head_1_joint_sensor"
+                      }
+                    ]
+                    endPoint DEF NECK Solid {
+                      translation 0.182 0 0
+                      children [
+                        Shape {
+                          appearance PBRAppearance {
+                            baseColor 0.823529 0.776471 0.776471
+                            baseColorMap ImageTexture {
+                              url [
+                                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                              ]
+                              filtering 5
+                            }
+                            roughnessMap ImageTexture {
+                              url [
+                                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                              ]
+                              filtering 5
+                            }
+                            metalness 0
+                            IBLStrength 1.8
+                            normalMap ImageTexture {
+                              url [
+                                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                              ]
+                              filtering 5
+                            }
+                            normalMapFactor 0.5
+                            textureTransform TextureTransform {
+                              scale 4 4
+                            }
+                          }
+                          geometry IndexedFaceSet {
+                            coord Coordinate {
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+                            ]
+                            creaseAngle 1
+                          }
+                        }
+                        DEF HEAD_JOINT HingeJoint {
+                          jointParameters HingeJointParameters {
+                            axis 0 -1 0
+                            anchor 0.005 0 0.098
+                            dampingConstant 0.5
+                            staticFriction 1
+                          }
+                          device [
+                            RotationalMotor {
+                              name "head_2_joint"
+                              maxVelocity 3
+                              minPosition -0.98
+                              maxPosition 0.79
+                              maxTorque 2.77
+                            }
+                            PositionSensor {
+                              name "head_2_joint_sensor"
+                            }
+                          ]
+                          endPoint DEF HEAD Solid {
+                            translation 0.005 0 0.098
+                            rotation 1 0 0 1.5708
+                            children [
+                              DEF CAMERA Pose {
+                                translation 0.107 0.0802 0
+                                children [
+                                  Solid {
+                                    translation -0.028 -0.035 -0.009
+                                    rotation 1 0 0 -1.5708
+                                    children [
+                                      Shape {
+                                        appearance PBRAppearance {
+                                          baseColor 0 0 0
+                                          baseColorMap ImageTexture {
+                                            url [
+                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                            ]
+                                            filtering 5
+                                          }
+                                          roughnessMap ImageTexture {
+                                            url [
+                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                                            ]
+                                            filtering 5
+                                          }
+                                          metalness 0
+                                          normalMapFactor 0.5
+                                          textureTransform TextureTransform {
+                                            scale 10 10
+                                          }
+                                        }
+                                        geometry Mesh {
+                                          url [
+                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/astra.obj"
+                                          ]
+                                        }
+                                      }
+                                      Camera {
+                                        translation 0.027 0.011 0.034
+                                        name "Astra rgb"
+                                        fieldOfView 1.04
+                                        width 640
+                                        height 480
+                                        recognition Recognition {
+                                        }
+                                      }
+                                      RangeFinder {
+                                        translation 0.027 0.037 0.034
+                                        name "Astra depth"
+                                        fieldOfView 1.04
+                                        width 640
+                                        height 480
+                                        minRange 0.6
+                                        maxRange 8
+                                      }
+                                    ]
+                                    name "Astra"
+                                    boundingObject Group {
+                                      children [
+                                        DEF MAIN_BODY_BOX Pose {
+                                          translation 0.006 0 0.034
+                                          children [
+                                            Box {
+                                              size 0.04 0.165 0.029
+                                            }
+                                          ]
+                                        }
+                                        DEF SUPPORT_BOX Pose {
+                                          translation -0.009 0 0.007
+                                          children [
+                                            Box {
+                                              size 0.061 0.06 0.014
+                                            }
+                                          ]
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.19
+                                    }
+                                  }
+                                ]
+                              }
+                              DEF CAMERA_LEFT_CAP Pose {
+                                translation 0.1055 0.0802 -0.0732
+                                rotation 0 1 0 1.57079
+                                children [
+                                  DEF EYE_SIDE_CAP Shape {
+                                    appearance PBRAppearance {
+                                      baseColor 0 0 0
+                                      baseColorMap ImageTexture {
+                                        url [
+                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                        ]
+                                        filtering 5
+                                      }
+                                      roughnessMap ImageTexture {
+                                        url [
+                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                        ]
+                                        filtering 5
+                                      }
+                                      metalness 0
+                                      IBLStrength 1.8
+                                      normalMap ImageTexture {
+                                        url [
+                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                        ]
+                                        filtering 5
+                                      }
+                                      normalMapFactor 0.5
+                                      textureTransform TextureTransform {
+                                        scale 4 4
+                                      }
+                                    }
+                                    geometry Cylinder {
+                                      bottom FALSE
+                                      height 0.001
+                                      radius 0.006
+                                      side FALSE
+                                    }
+                                  }
+                                ]
+                              }
+                              DEF CAMERA_RIGHT_CAP Pose {
+                                translation 0.1055 0.0802 0.0732
+                                rotation 0 1 0 1.57079
+                                children [
+                                  USE EYE_SIDE_CAP
+                                ]
+                              }
+                              DEF HEAD Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.823529 0.776471 0.776471
+                                  baseColorMap ImageTexture {
+                                    url [
+                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                                    ]
+                                    filtering 5
+                                  }
+                                  roughnessMap ImageTexture {
+                                    url [
+                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+                                    ]
+                                    filtering 5
+                                  }
+                                  metalness 0
+                                  IBLStrength 1.8
+                                  normalMap ImageTexture {
+                                    url [
+                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+                                    ]
+                                    filtering 5
+                                  }
+                                  normalMapFactor 0.5
+                                  textureTransform TextureTransform {
+                                    scale 4 4
+                                  }
+                                }
+                                geometry IndexedFaceSet {
+                                  coord Coordinate {
+                                    point [
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+    InertialUnit {
+    }
+    Gyro {
+    }
+    Solid {
+      translation 0 0 -0.095
+      name "base_footprint"
+    }
+    DEF BASE_MOBILE_SHAPE Group {
+      children [
+        DEF BASE Shape {
+          appearance PBRAppearance {
+            baseColor 0.823529 0.776471 0.776471
+            baseColorMap ImageTexture {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+              ]
+              filtering 5
+            }
+            roughnessMap ImageTexture {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_roughness.jpg"
+              ]
+              filtering 5
+            }
+            metalness 0
+            IBLStrength 1.8
+            normalMap ImageTexture {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/glossy_car_paint/glossy_car_paint_normal.jpg"
+              ]
+              filtering 5
+            }
+            normalMapFactor 0.5
+            textureTransform TextureTransform {
+              scale 4 4
+            }
+          }
+          geometry Mesh {
+            url [
+              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/base.obj"
+            ]
+          }
+        }
+        DEF ANTENNA_LEFT Pose {
+          translation -0.201 0.1062 0.195
+          children [
+            DEF ANTENNA_SHAPE Shape {
+              appearance PBRAppearance {
+                baseColor 0.133333 0.133333 0.133333
+                baseColorMap ImageTexture {
+                  url [
+                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                  ]
+                  filtering 5
+                }
+                roughnessMap ImageTexture {
+                  url [
+                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                  ]
+                  filtering 5
+                }
+                metalness 0
+                normalMapFactor 0.5
+                textureTransform TextureTransform {
+                  scale 10 10
+                }
+              }
+              geometry Mesh {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/antenna_shape.obj"
+                ]
+              }
+            }
+          ]
+        }
+        DEF ANTENNA_RIGHT Pose {
+          translation -0.201 -0.1062 0.195
+          children [
+            USE ANTENNA_SHAPE
+          ]
+        }
+      ]
+    }
+    DEF FRONT_SENSOR_1 Pose {
+      translation 0.1714 -0.111 0.002
+      rotation 0.47980308243485 -0.620398662991083 0.620398662994121 -2.246872814929654
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0 0 0
+          }
+          geometry Cylinder {
+            height 0.01
+            radius 0.01
+          }
+        }
+      ]
+      translationStep 0.001
+      rotationStep 0.001
+    }
+    DEF FRONT_SENSOR_2 Pose {
+      translation 0.1714 0.111 0.002
+      rotation 0.47980308243485 0.620398662991083 0.620398662994121 2.246872814929654
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0 0 0
+          }
+          geometry Cylinder {
+            height 0.01
+            radius 0.01
+          }
+        }
+      ]
+      rotationStep 0.001
+    }
+    DEF BUMPER TouchSensor {
+      translation 0 0 0.03
+      children [
+        DEF BUMPER_SHAPE Shape {
+          appearance PBRAppearance {
+            baseColor 1 0.552941 0.184314
+            transparency 0.01
+            roughness 0.1
+            metalness 0
+          }
+          geometry Mesh {
+            url [
+              "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/bumper_shape.obj"
+            ]
+          }
+        }
+      ]
+      name "base_cover_link"
+      boundingObject Pose {
+        translation 0 0 0.043
+        children [
+          Cylinder {
+            height 0.086
+            radius 0.272
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.25821
+      }
+    }
+    DEF DISTANCE_SENSOR_BACK_LEFT DistanceSensor {
+      translation -0.183 0.183 0.173
+      rotation 0 0 1 2.3562
+      children [
+        DEF DS_SHAPE Group {
+          children [
+            DEF DS_SH_1 Pose {
+              translation 0 -0.0115 0
+              rotation 0 0 1 -1.5707896938995747
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0 0 0
+                    baseColorMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                      ]
+                      filtering 5
+                    }
+                    roughnessMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                      ]
+                      filtering 5
+                    }
+                    metalness 0
+                    normalMapFactor 0.5
+                    textureTransform TextureTransform {
+                      scale 10 10
+                    }
+                  }
+                }
+              ]
+            }
+            DEF DS_SH_2 Pose {
+              translation 0 0.0115 0
+              rotation 0 0 1 -1.5707896938995747
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0 0 0
+                    baseColorMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_base_color.jpg"
+                      ]
+                      filtering 5
+                    }
+                    roughnessMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/matte_car_paint/matte_car_paint_roughness.jpg"
+                      ]
+                      filtering 5
+                    }
+                    metalness 0
+                    normalMapFactor 0.5
+                    textureTransform TextureTransform {
+                      scale 10 10
+                    }
+                  }
+                }
+              ]
+            }
+          ]
+        }
+      ]
+      name "base_sonar_03_link"
+    }
+    DEF DISTANCE_SENSOR_BACK_MIDDLE DistanceSensor {
+      translation -0.259 0 0.173
+      rotation 0 0 1 3.1416
+      children [
+        USE DS_SHAPE
+      ]
+      name "base_sonar_02_link"
+    }
+    DEF DISTANCE_SENSOR_BACK_RIGHT DistanceSensor {
+      translation -0.183 -0.183 0.173
+      rotation 0 0 1 3.927
+      children [
+        USE DS_SHAPE
+      ]
+      name "base_sonar_01_link"
+    }
+    DEF RIGHT_WHEEL_JOINT HingeJoint {
+      jointParameters HingeJointParameters {
+        axis 0 1 0
+        anchor 0 -0.2022 0
+        suspensionAxis 0 0 1
+      }
+      device [
+        RotationalMotor {
+          name "wheel_right_joint"
+          acceleration 5.0762
+          maxVelocity 10.1523
+        }
+        PositionSensor {
+          name "wheel_right_joint_sensor"
+        }
+      ]
+      endPoint DEF RIGHT_WHEEL Solid {
+        translation 0 -0.202 0
+        rotation 1 0 0 1.5708
+        children [
+          DEF BIG_WHEEL Group {
+            children [
+              Pose {
+                translation 0 0 0.042
+                children [
+                  Shape {
+                    appearance PBRAppearance {
+                      baseColor 0 0 0
+                      roughness 1
+                      metalness 0
+                    }
+                    geometry Cylinder {
+                      height 0.005
+                      radius 0.016
+                    }
+                  }
+                ]
+              }
+              DEF TIRE Shape {
+                appearance PBRAppearance {
+                  baseColorMap ImageTexture {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_base_color.jpg"
+                    ]
+                    filtering 5
+                  }
+                  roughnessMap ImageTexture {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_roughness.jpg"
+                    ]
+                    filtering 5
+                  }
+                  metalness 0
+                  IBLStrength 0.5
+                  normalMap ImageTexture {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_normal.jpg"
+                    ]
+                    filtering 5
+                  }
+                  normalMapFactor 1.5
+                  occlusionMap ImageTexture {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_occlusion.jpg"
+                    ]
+                    filtering 5
+                  }
+                  textureTransform TextureTransform {
+                    scale 25 25
+                  }
+                }
+                geometry Mesh {
+                  url [
+                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/tire.obj"
+                  ]
+                }
+              }
+              DEF RIM Shape {
+                appearance PBRAppearance {
+                  baseColorMap ImageTexture {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago_base/protos/textures/metal_stainless_clean_base_color.jpg"
+                    ]
+                  }
+                  roughnessMap ImageTexture {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago_base/protos/textures/metal_stainless_clean_roughness.jpg"
+                    ]
+                  }
+                  metalness 0.9
+                  textureTransform TextureTransform {
+                    scale 10 10
+                  }
+                }
+                geometry Mesh {
+                  url [
+                    "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/rim.obj"
+                  ]
+                }
+              }
+            ]
+          }
+        ]
+        name "wheel_right_link"
+        boundingObject Pose {
+          children [
+            Cylinder {
+              height 0.04
+              radius 0.0985
+            }
+          ]
+        }
+        physics Physics {
+          density -1
+          mass 1.82362
+        }
+      }
+    }
+    DEF LEFT_WHEEL_JOINT HingeJoint {
+      jointParameters HingeJointParameters {
+        axis 0 1 0
+        anchor 0 0.2022 0
+        suspensionAxis 0 0 1
+      }
+      device [
+        RotationalMotor {
+          name "wheel_left_joint"
+          acceleration 5.0762
+          maxVelocity 10.1523
+        }
+        PositionSensor {
+          name "wheel_left_joint_sensor"
+        }
+      ]
+      endPoint DEF LEFT_WHEEL Solid {
+        translation 0 0.202 0
+        rotation 1 0 0 1.5708
+        children [
+          Pose {
+            rotation -1 0 0 3.141593
+            children [
+              DEF BIG_WHEEL Group {
+                children [
+                  Pose {
+                    translation 0 0 0.042
+                    children [
+                      Shape {
+                        appearance PBRAppearance {
+                          baseColor 0 0 0
+                          roughness 1
+                          metalness 0
+                        }
+                        geometry Cylinder {
+                          height 0.005
+                          radius 0.016
+                        }
+                      }
+                    ]
+                  }
+                  DEF TIRE Shape {
+                    appearance PBRAppearance {
+                      baseColorMap ImageTexture {
+                        url [
+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_base_color.jpg"
+                        ]
+                        filtering 5
+                      }
+                      roughnessMap ImageTexture {
+                        url [
+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_roughness.jpg"
+                        ]
+                        filtering 5
+                      }
+                      metalness 0
+                      IBLStrength 0.5
+                      normalMap ImageTexture {
+                        url [
+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_normal.jpg"
+                        ]
+                        filtering 5
+                      }
+                      normalMapFactor 1.5
+                      occlusionMap ImageTexture {
+                        url [
+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_occlusion.jpg"
+                        ]
+                        filtering 5
+                      }
+                      textureTransform TextureTransform {
+                        scale 25 25
+                      }
+                    }
+                    geometry Mesh {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/tire.obj"
+                      ]
+                    }
+                  }
+                  DEF RIM Shape {
+                    appearance PBRAppearance {
+                      baseColorMap ImageTexture {
+                        url [
+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago_base/protos/textures/metal_stainless_clean_base_color.jpg"
+                        ]
+                      }
+                      roughnessMap ImageTexture {
+                        url [
+                          "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago_base/protos/textures/metal_stainless_clean_roughness.jpg"
+                        ]
+                      }
+                      metalness 0.9
+                      textureTransform TextureTransform {
+                        scale 10 10
+                      }
+                    }
+                    geometry Mesh {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/rim.obj"
+                      ]
+                    }
+                  }
+                ]
+              }
+            ]
+          }
+        ]
+        name "wheel_left_link"
+        boundingObject Pose {
+          children [
+            Cylinder {
+              height 0.04
+              radius 0.0985
+            }
+          ]
+        }
+        physics Physics {
+          density -1
+          mass 1.82362
+        }
+      }
+    }
+    DEF CASTER_WHEEL_FRONT_RIGHT_JOINT HingeJoint {
+      jointParameters HingeJointParameters {
+        axis 0 0 1
+        anchor 0.1695 -0.102 -0.0335
+        suspensionSpringConstant 250000
+        suspensionAxis 0 0 1
+      }
+      endPoint DEF CASTER_WHEEL_FRONT_RIGHT Solid {
+        translation 0.1695 -0.102 -0.0335
+        children [
+          DEF SMALL_WHEEL_JOINT HingeJoint {
+            jointParameters HingeJointParameters {
+              axis 0 1 0
+              anchor -0.016 0 -0.04
+            }
+            endPoint DEF SMALL_WHEEL Solid {
+              translation -0.016 0 -0.04
+              rotation -1 0 0 1.5708
+              children [
+                DEF SMALL_WHEEL_SHAPE Shape {
+                  appearance PBRAppearance {
+                    baseColorMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_base_color.jpg"
+                      ]
+                      filtering 5
+                    }
+                    roughnessMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_roughness.jpg"
+                      ]
+                      filtering 5
+                    }
+                    metalness 0
+                    IBLStrength 0.5
+                    normalMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_normal.jpg"
+                      ]
+                      filtering 5
+                    }
+                    normalMapFactor 1.5
+                    occlusionMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_occlusion.jpg"
+                      ]
+                      filtering 5
+                    }
+                    textureTransform TextureTransform {
+                      scale 25 25
+                    }
+                  }
+                  geometry Mesh {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/small_wheel_shape.obj"
+                    ]
+                  }
+                }
+              ]
+              name "caster_front_right_2_link"
+              boundingObject DEF SMALL_WHEEL_BO Pose {
+                children [
+                  Cylinder {
+                    height 0.015
+                    radius 0.025
+                  }
+                ]
+              }
+              physics DEF SMALL_WHEEL_PHYSIC Physics {
+                density -1
+                mass 0.088558
+              }
+            }
+          }
+          DEF CASTER_SUPPORT Shape {
+            appearance PBRAppearance {
+              baseColorMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg"
+                ]
+              }
+              roughnessMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg"
+                ]
+              }
+              normalMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg"
+                ]
+              }
+              textureTransform TextureTransform {
+                rotation -1.57
+                scale 2 2
+              }
+            }
+            geometry Mesh {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/caster_support.obj"
+              ]
+            }
+          }
+        ]
+        name "caster_front_right_1_link"
+        boundingObject DEF CASTER_WHEEL_BO Pose {
+          translation -0.003 0 -0.022
+          children [
+            DEF CASTER_SUPPORT_BO Box {
+              size 0.036 0.032 0.04
+            }
+          ]
+        }
+        physics DEF CASTER_WHEEL_PHYSIC Physics {
+          density -1
+          mass 0.051448
+        }
+      }
+    }
+    DEF CASTER_WHEEL_FRONT_LEFT_JOINT HingeJoint {
+      jointParameters HingeJointParameters {
+        axis 0 0 1
+        anchor 0.1695 0.102 -0.0335
+        suspensionSpringConstant 250000
+        suspensionAxis 0 0 1
+      }
+      endPoint DEF CASTER_WHEEL_FRONT_LEFT Solid {
+        translation 0.1695 0.102 -0.0335
+        children [
+          DEF SMALL_WHEEL_JOINT HingeJoint {
+            jointParameters HingeJointParameters {
+              axis 0 1 0
+              anchor -0.016 0 -0.04
+            }
+            endPoint DEF SMALL_WHEEL Solid {
+              translation -0.016 0 -0.04
+              rotation -1 0 0 1.5708
+              children [
+                DEF SMALL_WHEEL_SHAPE Shape {
+                  appearance PBRAppearance {
+                    baseColorMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_base_color.jpg"
+                      ]
+                      filtering 5
+                    }
+                    roughnessMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_roughness.jpg"
+                      ]
+                      filtering 5
+                    }
+                    metalness 0
+                    IBLStrength 0.5
+                    normalMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_normal.jpg"
+                      ]
+                      filtering 5
+                    }
+                    normalMapFactor 1.5
+                    occlusionMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_occlusion.jpg"
+                      ]
+                      filtering 5
+                    }
+                    textureTransform TextureTransform {
+                      scale 25 25
+                    }
+                  }
+                  geometry Mesh {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/small_wheel_shape.obj"
+                    ]
+                  }
+                }
+              ]
+              name "caster_front_left_2_link"
+              boundingObject DEF SMALL_WHEEL_BO Pose {
+                children [
+                  Cylinder {
+                    height 0.015
+                    radius 0.025
+                  }
+                ]
+              }
+              physics DEF SMALL_WHEEL_PHYSIC Physics {
+                density -1
+                mass 0.088558
+              }
+            }
+          }
+          DEF CASTER_SUPPORT Shape {
+            appearance PBRAppearance {
+              baseColorMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg"
+                ]
+              }
+              roughnessMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg"
+                ]
+              }
+              normalMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg"
+                ]
+              }
+              textureTransform TextureTransform {
+                rotation -1.57
+                scale 2 2
+              }
+            }
+            geometry Mesh {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/caster_support.obj"
+              ]
+            }
+          }
+        ]
+        name "caster_front_left_1_link"
+        boundingObject DEF CASTER_WHEEL_BO Pose {
+          translation -0.003 0 -0.022
+          children [
+            DEF CASTER_SUPPORT_BO Box {
+              size 0.036 0.032 0.04
+            }
+          ]
+        }
+        physics DEF CASTER_WHEEL_PHYSIC Physics {
+          density -1
+          mass 0.051448
+        }
+      }
+    }
+    DEF CASTER_WHEEL_BACK_RIGHT_JOINT HingeJoint {
+      jointParameters HingeJointParameters {
+        axis 0 0 1
+        anchor -0.1735 -0.102 -0.0335
+        suspensionSpringConstant 250000
+        suspensionAxis 0 0 1
+      }
+      endPoint DEF CASTER_WHEEL_BACK_RIGHT Solid {
+        translation -0.1735 -0.102 -0.0335
+        children [
+          DEF SMALL_WHEEL_JOINT HingeJoint {
+            jointParameters HingeJointParameters {
+              axis 0 1 0
+              anchor -0.016 0 -0.04
+            }
+            endPoint DEF SMALL_WHEEL_JOINT Solid {
+              translation -0.016 0 -0.04
+              rotation -1 0 0 1.5708
+              children [
+                DEF SMALL_WHEEL_SHAPE Shape {
+                  appearance PBRAppearance {
+                    baseColorMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_base_color.jpg"
+                      ]
+                      filtering 5
+                    }
+                    roughnessMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_roughness.jpg"
+                      ]
+                      filtering 5
+                    }
+                    metalness 0
+                    IBLStrength 0.5
+                    normalMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_normal.jpg"
+                      ]
+                      filtering 5
+                    }
+                    normalMapFactor 1.5
+                    occlusionMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_occlusion.jpg"
+                      ]
+                      filtering 5
+                    }
+                    textureTransform TextureTransform {
+                      scale 25 25
+                    }
+                  }
+                  geometry Mesh {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/small_wheel_shape.obj"
+                    ]
+                  }
+                }
+              ]
+              name "caster_back_right_2_link"
+              boundingObject DEF SMALL_WHEEL_BO Pose {
+                children [
+                  Cylinder {
+                    height 0.015
+                    radius 0.025
+                  }
+                ]
+              }
+              physics DEF SMALL_WHEEL_PHYSIC Physics {
+                density -1
+                mass 0.088558
+              }
+            }
+          }
+          DEF CASTER_SUPPORT Shape {
+            appearance PBRAppearance {
+              baseColorMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg"
+                ]
+              }
+              roughnessMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg"
+                ]
+              }
+              normalMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg"
+                ]
+              }
+              textureTransform TextureTransform {
+                rotation -1.57
+                scale 2 2
+              }
+            }
+            geometry Mesh {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/caster_support.obj"
+              ]
+            }
+          }
+        ]
+        name "caster_back_right_1_link"
+        boundingObject DEF CASTER_WHEEL_BO Pose {
+          translation -0.003 0 -0.022
+          children [
+            DEF CASTER_SUPPORT_BO Box {
+              size 0.036 0.032 0.04
+            }
+          ]
+        }
+        physics DEF CASTER_WHEEL_PHYSIC Physics {
+          density -1
+          mass 0.051448
+        }
+      }
+    }
+    DEF CASTER_WHEEL_BACK_LEFT_JOINT HingeJoint {
+      jointParameters HingeJointParameters {
+        axis 0 0 1
+        anchor -0.1735 0.102 -0.0335
+        suspensionSpringConstant 250000
+        suspensionAxis 0 0 1
+      }
+      endPoint DEF CASTER_WHEEL_BACK_LEFT Solid {
+        translation -0.1735 0.102 -0.0335
+        children [
+          DEF SMALL_WHEEL_JOINT HingeJoint {
+            jointParameters HingeJointParameters {
+              axis 0 1 0
+              anchor -0.016 0 -0.04
+            }
+            endPoint DEF SMALL_WHEEL Solid {
+              translation -0.016 0 -0.04
+              rotation -1 0 0 1.5708
+              children [
+                DEF SMALL_WHEEL_SHAPE Shape {
+                  appearance PBRAppearance {
+                    baseColorMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_base_color.jpg"
+                      ]
+                      filtering 5
+                    }
+                    roughnessMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_roughness.jpg"
+                      ]
+                      filtering 5
+                    }
+                    metalness 0
+                    IBLStrength 0.5
+                    normalMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_normal.jpg"
+                      ]
+                      filtering 5
+                    }
+                    normalMapFactor 1.5
+                    occlusionMap ImageTexture {
+                      url [
+                        "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/asphalt/asphalt_occlusion.jpg"
+                      ]
+                      filtering 5
+                    }
+                    textureTransform TextureTransform {
+                      scale 25 25
+                    }
+                  }
+                  geometry Mesh {
+                    url [
+                      "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/small_wheel_shape.obj"
+                    ]
+                  }
+                }
+              ]
+              name "caster_back_left_2_link"
+              boundingObject DEF SMALL_WHEEL_BO Pose {
+                children [
+                  Cylinder {
+                    height 0.015
+                    radius 0.025
+                  }
+                ]
+              }
+              physics DEF SMALL_WHEEL_PHYSIC Physics {
+                density -1
+                mass 0.088558
+              }
+            }
+          }
+          DEF CASTER_SUPPORT Shape {
+            appearance PBRAppearance {
+              baseColorMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg"
+                ]
+              }
+              roughnessMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg"
+                ]
+              }
+              normalMap ImageTexture {
+                url [
+                  "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg"
+                ]
+              }
+              textureTransform TextureTransform {
+                rotation -1.57
+                scale 2 2
+              }
+            }
+            geometry Mesh {
+              url [
+                "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/robots/pal_robotics/tiago/protos/meshes/caster_support.obj"
+              ]
+            }
+          }
+        ]
+        name "caster_back_left_1_link"
+        boundingObject DEF CASTER_WHEEL_BO Pose {
+          translation -0.003 0 -0.022
+          children [
+            DEF CASTER_SUPPORT_BO Box {
+              size 0.036 0.032 0.04
+            }
+          ]
+        }
+        physics DEF CASTER_WHEEL_PHYSIC Physics {
+          density -1
+          mass 0.051448
+        }
+      }
+    }
+  ]
+  name "TIAGo"
+  model "PAL Robotics - TIAGo"
+  boundingObject Group {
+    children [
+      DEF BASE_BO Pose {
+        translation 0 0 0.06
+        children [
+          Shape {
+            geometry Cylinder {
+              height 0.276
+              radius 0.265
+            }
+          }
+        ]
+      }
+      DEF ANTENNA_LEFT_BO Pose {
+        translation -0.201 0.1062 0.28
+        children [
+          DEF ANTENNA_BO Cylinder {
+            height 0.173
+            radius 0.007
+          }
+        ]
+      }
+      DEF ANTENNA_RIGHT_BO Pose {
+        translation -0.201 -0.1062 0.28
+        children [
+          USE ANTENNA_BO
+        ]
+      }
+    ]
+  }
+  physics Physics {
+    density -1
+    mass 28.26649
+  }
+  controller "final"
+  supervisor TRUE
+}