diff --git a/blender/diyquad.blend b/blender/diyquad.blend
index 5f2c00b2c..605dbedff 100644
Binary files a/blender/diyquad.blend and b/blender/diyquad.blend differ
diff --git a/webots/meshes/collada_files/diyquad.dae b/webots/meshes/collada_files/diyquad.dae
index 6e613af52..c40bd835a 100644
--- a/webots/meshes/collada_files/diyquad.dae
+++ b/webots/meshes/collada_files/diyquad.dae
@@ -5,8 +5,8 @@
       <author>Blender User</author>
       <authoring_tool>Blender 4.2.1 LTS commit date:2024-08-19, commit time:11:21, hash:396f546c9d82</authoring_tool>
     </contributor>
-    <created>2024-09-01T03:02:37</created>
-    <modified>2024-09-01T03:02:37</modified>
+    <created>2024-11-23T20:30:28</created>
+    <modified>2024-11-23T20:30:28</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
@@ -68,7 +68,7 @@
     </light>
   </library_lights>
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+    <effect id="Material_029-effect">
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@@ -76,11 +76,8 @@
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             </emission>
             <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">0.05461758 0.3177846 0.1024948 1</color>
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-            <reflectivity>
-              <float sid="specular">1</float>
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               <float sid="ior">1.5</float>
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@@ -88,7 +85,7 @@
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       </profile_COMMON>
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+    <effect id="Material_028-effect">
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@@ -176,7 +173,7 @@
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             </emission>
             <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">1 0 0 1</color>
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             <reflectivity>
               <float sid="specular">1</float>
@@ -196,7 +193,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">1 0 0 1</color>
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             <reflectivity>
               <float sid="specular">1</float>
@@ -216,7 +213,7 @@
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             </emission>
             <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">1 0 0 1</color>
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             <reflectivity>
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@@ -361,7 +358,7 @@
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             </emission>
             <diffuse>
-              <color sid="diffuse">0.8 0.8 0.8 1</color>
+              <color sid="diffuse">1 0 0 1</color>
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             <reflectivity>
               <float sid="specular">1</float>
@@ -478,12 +475,12 @@
   </library_effects>
   <library_images/>
   <library_materials>
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+      <instance_effect url="#Material_029-effect"/>
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-    <material id="Material_027-material" name="Material.027">
-      <instance_effect url="#Material_027-effect"/>
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     <material id="Material_026-material" name="Material.026">
       <instance_effect url="#Material_026-effect"/>
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@@ -546,86 +543,86 @@
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   </library_materials>
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-        <source id="Cube_011-mesh-map-0">
-          <float_array id="Cube_011-mesh-map-0-array" count="264">0.6076297 0.7556231 0.3923704 0.9943769 0.3923704 0.7556231 0.6076296 0.518082 0.3923705 0.7319181 0.3923704 0.518082 0.869377 0.518082 0.6306231 0.731918 0.6306231 0.518082 0.6076296 0.01808196 0.3923705 0.231918 0.3923704 0.01808196 0.6076297 0.2556231 0.3923704 0.4943769 0.3923704 0.2556231 0.1306231 0.731918 0.1306231 0.75 0.125 0.731918 0.6076296 0.994377 0.625 0.9943769 0.6076295 1 0.1306231 0.518082 0.125 0.518082 0.1306231 0.5 0.625 0.2556231 0.6076297 0.2556231 0.6076295 0.25 0.3693768 0.731918 0.375 0.731918 0.3693768 0.75 0.625 0.7556231 0.6076297 0.7556231 0.6076295 0.75 0.3693769 0.518082 0.3693768 0.5 0.375 0.518082 0.625 0.518082 0.6076296 0.518082 0.6076296 0.5 0.1306231 0.731918 0.125 0.518082 0.1306231 0.518082 0.6076296 0 0.3923704 0.01808196 0.3923704 0 0.625 0.231918 0.6076296 0.01808196 0.625 0.01808196 0.3923704 0.2556231 0.6076296 0.231918 0.6076297 0.2556231 0.1306231 0.518082 0.3693768 0.5 0.3693769 0.518082 0.625 0.4943769 0.6076297 0.2556231 0.625 0.2556231 0.3923704 0.518082 0.6076296 0.4943769 0.6076296 0.518082 0.3693769 0.518082 0.3923705 0.7319181 0.3693768 0.731918 0.6306231 0.731918 0.6076296 0.518082 0.6306231 0.518082 0.3923704 0.7556231 0.6076296 0.7319181 0.6076297 0.7556231 0.3693768 0.731918 0.1306231 0.75 0.1306231 0.731918 0.625 0.9943769 0.6076297 0.7556231 0.625 0.7556231 0.3693769 0.518082 0.1306231 0.731918 0.1306231 0.518082 0.6076297 0.7556231 0.6076296 0.994377 0.3923704 0.9943769 0.6076296 0.518082 0.6076296 0.7319181 0.3923705 0.7319181 0.869377 0.518082 0.8693769 0.731918 0.6306231 0.731918 0.6076296 0.01808196 0.6076296 0.231918 0.3923705 0.231918 0.6076297 0.2556231 0.6076296 0.4943769 0.3923704 0.4943769 0.1306231 0.731918 0.125 0.731918 0.125 0.518082 0.6076296 0 0.6076296 0.01808196 0.3923704 0.01808196 0.625 0.231918 0.6076296 0.231918 0.6076296 0.01808196 0.3923704 0.2556231 0.3923705 0.231918 0.6076296 0.231918 0.1306231 0.518082 0.1306231 0.5 0.3693768 0.5 0.625 0.4943769 0.6076296 0.4943769 0.6076297 0.2556231 0.3923704 0.518082 0.3923704 0.4943769 0.6076296 0.4943769 0.3693769 0.518082 0.3923704 0.518082 0.3923705 0.7319181 0.6306231 0.731918 0.6076296 0.7319181 0.6076296 0.518082 0.3923704 0.7556231 0.3923705 0.7319181 0.6076296 0.7319181 0.3693768 0.731918 0.3693768 0.75 0.1306231 0.75 0.625 0.9943769 0.6076296 0.994377 0.6076297 0.7556231 0.3693769 0.518082 0.3693768 0.731918 0.1306231 0.731918</float_array>
+        <source id="Cube_012-mesh-map-0">
+          <float_array id="Cube_012-mesh-map-0-array" count="264">0.6076297 0.7556231 0.3923704 0.9943769 0.3923704 0.7556231 0.6076296 0.518082 0.3923705 0.7319181 0.3923704 0.518082 0.869377 0.518082 0.6306231 0.731918 0.6306231 0.518082 0.6076296 0.01808196 0.3923705 0.231918 0.3923704 0.01808196 0.6076297 0.2556231 0.3923704 0.4943769 0.3923704 0.2556231 0.1306231 0.731918 0.1306231 0.75 0.125 0.731918 0.6076296 0.994377 0.625 0.9943769 0.6076295 1 0.1306231 0.518082 0.125 0.518082 0.1306231 0.5 0.625 0.2556231 0.6076297 0.2556231 0.6076295 0.25 0.3693768 0.731918 0.375 0.731918 0.3693768 0.75 0.625 0.7556231 0.6076297 0.7556231 0.6076295 0.75 0.3693769 0.518082 0.3693768 0.5 0.375 0.518082 0.625 0.518082 0.6076296 0.518082 0.6076296 0.5 0.1306231 0.731918 0.125 0.518082 0.1306231 0.518082 0.6076296 0 0.3923704 0.01808196 0.3923704 0 0.625 0.231918 0.6076296 0.01808196 0.625 0.01808196 0.3923704 0.2556231 0.6076296 0.231918 0.6076297 0.2556231 0.1306231 0.518082 0.3693768 0.5 0.3693769 0.518082 0.625 0.4943769 0.6076297 0.2556231 0.625 0.2556231 0.3923704 0.518082 0.6076296 0.4943769 0.6076296 0.518082 0.3693769 0.518082 0.3923705 0.7319181 0.3693768 0.731918 0.6306231 0.731918 0.6076296 0.518082 0.6306231 0.518082 0.3923704 0.7556231 0.6076296 0.7319181 0.6076297 0.7556231 0.3693768 0.731918 0.1306231 0.75 0.1306231 0.731918 0.625 0.9943769 0.6076297 0.7556231 0.625 0.7556231 0.3693769 0.518082 0.1306231 0.731918 0.1306231 0.518082 0.6076297 0.7556231 0.6076296 0.994377 0.3923704 0.9943769 0.6076296 0.518082 0.6076296 0.7319181 0.3923705 0.7319181 0.869377 0.518082 0.8693769 0.731918 0.6306231 0.731918 0.6076296 0.01808196 0.6076296 0.231918 0.3923705 0.231918 0.6076297 0.2556231 0.6076296 0.4943769 0.3923704 0.4943769 0.1306231 0.731918 0.125 0.731918 0.125 0.518082 0.6076296 0 0.6076296 0.01808196 0.3923704 0.01808196 0.625 0.231918 0.6076296 0.231918 0.6076296 0.01808196 0.3923704 0.2556231 0.3923705 0.231918 0.6076296 0.231918 0.1306231 0.518082 0.1306231 0.5 0.3693768 0.5 0.625 0.4943769 0.6076296 0.4943769 0.6076297 0.2556231 0.3923704 0.518082 0.3923704 0.4943769 0.6076296 0.4943769 0.3693769 0.518082 0.3923704 0.518082 0.3923705 0.7319181 0.6306231 0.731918 0.6076296 0.7319181 0.6076296 0.518082 0.3923704 0.7556231 0.3923705 0.7319181 0.6076296 0.7319181 0.3693768 0.731918 0.3693768 0.75 0.1306231 0.75 0.625 0.9943769 0.6076296 0.994377 0.6076297 0.7556231 0.3693769 0.518082 0.3693768 0.731918 0.1306231 0.731918</float_array>
           <technique_common>
-            <accessor source="#Cube_011-mesh-map-0-array" count="132" stride="2">
+            <accessor source="#Cube_012-mesh-map-0-array" count="132" stride="2">
               <param name="S" type="float"/>
               <param name="T" type="float"/>
             </accessor>
           </technique_common>
         </source>
-        <vertices id="Cube_011-mesh-vertices">
-          <input semantic="POSITION" source="#Cube_011-mesh-positions"/>
+        <vertices id="Cube_012-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_012-mesh-positions"/>
         </vertices>
-        <triangles material="Material_027-material" count="44">
-          <input semantic="VERTEX" source="#Cube_011-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube_011-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube_011-mesh-map-0" offset="2" set="0"/>
+        <triangles material="Material_028-material" count="44">
+          <input semantic="VERTEX" source="#Cube_012-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_012-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_012-mesh-map-0" offset="2" set="0"/>
           <p>16 0 0 1 0 1 14 0 2 22 1 3 13 1 4 20 1 5 9 2 6 15 2 7 21 2 8 5 3 9 7 3 10 2 3 11 10 4 12 19 4 13 8 4 14 0 5 15 1 5 16 2 5 17 3 6 18 4 6 19 5 6 20 6 7 21 7 7 22 8 7 23 9 8 24 10 8 25 11 8 26 12 9 27 13 9 28 14 9 29 15 10 30 16 10 31 17 10 32 18 11 33 19 11 34 20 11 35 21 12 36 22 12 37 23 12 38 0 13 39 7 13 40 6 13 41 3 14 42 2 14 43 1 14 44 9 15 45 5 15 46 4 15 47 8 16 48 11 16 49 10 16 50 6 17 51 19 17 52 18 17 53 21 18 54 10 18 55 9 18 56 20 19 57 23 19 58 22 19 59 18 20 60 13 20 61 12 20 62 15 21 63 22 21 64 21 21 65 14 22 66 17 22 67 16 22 68 12 23 69 1 23 70 0 23 71 4 24 72 16 24 73 15 24 74 18 25 75 0 25 76 6 25 77 16 26 78 3 26 79 1 26 80 22 27 81 17 27 82 13 27 83 9 28 84 4 28 85 15 28 86 5 29 87 11 29 88 7 29 89 10 30 90 23 30 91 19 30 92 0 31 93 2 31 94 7 31 95 3 32 96 5 32 97 2 32 98 9 33 99 11 33 100 5 33 101 8 34 102 7 34 103 11 34 104 6 35 105 8 35 106 19 35 107 21 36 108 23 36 109 10 36 110 20 37 111 19 37 112 23 37 113 18 38 114 20 38 115 13 38 116 15 39 117 17 39 118 22 39 119 14 40 120 13 40 121 17 40 122 12 41 123 14 41 124 1 41 125 4 42 126 3 42 127 16 42 128 18 43 129 12 43 130 0 43 131</p>
         </triangles>
       </mesh>
@@ -1363,24 +1360,24 @@
   </library_geometries>
   <library_visual_scenes>
     <visual_scene id="Scene" name="Scene">
-      <node id="Cube_007" name="Cube.007" type="NODE">
-        <matrix sid="transform">0.17 0 0 0.00291 0 0.02015483 0 -0.005668654 0 0 0.08938979 0.02790472 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_012-mesh" name="Cube.007">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1.133343 0 0 0.003630297 0 1 0 7.76128e-5 0 0 1 0.01236772 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
           <bind_material>
             <technique_common>
-              <instance_material symbol="Material_028-material" target="#Material_028-material">
+              <instance_material symbol="Material_029-material" target="#Material_029-material">
                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
               </instance_material>
             </technique_common>
           </bind_material>
         </instance_geometry>
       </node>
-      <node id="Cube_006" name="Cube.006" type="NODE">
-        <matrix sid="transform">0.17 0 0 0.00291 0 0.02015483 0 0.008671921 0 0 0.08938979 0.02790472 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_011-mesh" name="Cube.006">
+      <node id="Cube_007" name="Cube.007" type="NODE">
+        <matrix sid="transform">0.17 0 0 0.00291 0 0.02015483 0 -0.005668654 0 0 0.08938979 0.02790472 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_012-mesh" name="Cube.007">
           <bind_material>
             <technique_common>
-              <instance_material symbol="Material_027-material" target="#Material_027-material">
+              <instance_material symbol="Material_028-material" target="#Material_028-material">
                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
               </instance_material>
             </technique_common>
diff --git a/webots/protos/DiyQuad.proto b/webots/protos/DiyQuad.proto
index 967ceda13..64b3b8814 100644
--- a/webots/protos/DiyQuad.proto
+++ b/webots/protos/DiyQuad.proto
@@ -1,8 +1,10 @@
 #VRML_SIM R2023b utf8
 
 PROTO DiyQuad [
-  field SFVec3f translation     0 0 0.015
-  field SFRotation rotation     0 0 0 0
+  field SFVec3f translation      0 0 0.015
+  field SFColor rear_prop_color  0.5 0 0.5
+  field SFColor front_prop_color 0.1 0.1 0.1
+  field SFRotation rotation      0 0 0 0
 ]
 
 {
@@ -62,9 +64,9 @@ DEF ROBOT Robot {
 
                 children [ 
 
-                    DEF FASTHELIX Shape {
+                    Shape {
                             appearance PBRAppearance {
-                                baseColor 0.4 0.0 0.0
+                                baseColor IS rear_prop_color
                                     baseColorMap ImageTexture {
                                         url [
                                             "../meshes/textures/fast_helix.png"
@@ -89,8 +91,8 @@ DEF ROBOT Robot {
                     Shape {
 
                         appearance DEF PLASTIC PBRAppearance {
-                            baseColor 1 0 0.1
-                                metalness 0
+                            baseColor IS rear_prop_color
+                            metalness 0
                         }
 
                       geometry Mesh {
@@ -123,7 +125,7 @@ DEF ROBOT Robot {
 
                 Shape {
                             appearance PBRAppearance {
-                                baseColor 0.1 0.1 0.1
+                                baseColor IS front_prop_color
                                     baseColorMap ImageTexture {
                                         url [
                                             "../meshes/textures/fast_helix.png"
@@ -147,7 +149,7 @@ DEF ROBOT Robot {
                     Shape {
 
                         appearance DEF PLASTIC PBRAppearance {
-                            baseColor 0.1 0.1 0.1
+                            baseColor IS front_prop_color
                                 metalness 0
                         }
 
@@ -180,7 +182,7 @@ DEF ROBOT Robot {
                   
                 Shape {
                             appearance PBRAppearance {
-                                baseColor 0.4 0.0 0.0
+                                baseColor IS rear_prop_color
                                     baseColorMap ImageTexture {
                                         url [
                                             "../meshes/textures/fast_helix.png"
@@ -203,7 +205,7 @@ DEF ROBOT Robot {
                     Shape {
 
                         appearance DEF PLASTIC PBRAppearance {
-                            baseColor 1 0 0.1
+                            baseColor IS rear_prop_color
                                 metalness 0
                         }
 
@@ -235,7 +237,7 @@ DEF ROBOT Robot {
 
                 Shape {
                             appearance PBRAppearance {
-                                baseColor 0.1 0.1 0.1
+                                baseColor IS front_prop_color
                                     baseColorMap ImageTexture {
                                         url [
                                             "../meshes/textures/fast_helix.png"
@@ -259,7 +261,7 @@ DEF ROBOT Robot {
                     Shape {
 
                         appearance DEF PLASTIC PBRAppearance {
-                            baseColor 0.1 0.1 0.1
+                            baseColor IS front_prop_color
                                 metalness 0
                         }
 
diff --git a/webots/worlds/haskell.wbt b/webots/worlds/haskell.wbt
index 1aca3422d..7deae3b82 100644
--- a/webots/worlds/haskell.wbt
+++ b/webots/worlds/haskell.wbt
@@ -18,23 +18,18 @@ WorldInfo {
     }
   ]
 }
-
 Viewpoint {
   orientation 0 1 0 0.75
-  position -1.3 -0.08 1.3
+  position -1.6665689157816106 -0.08 1.6414943042676853
   bloomThreshold 100
 }
-
 DEF diyquad DiyQuad {
   translation 0 0 0
   rotation 0 0 -1 0
 }
-
 TexturedBackground {
 }
-
 TexturedBackgroundLight {
 }
-
 Floor {
 }
diff --git a/webots/worlds/standard.wbt b/webots/worlds/standard.wbt
index e620828f1..9c140e77c 100644
--- a/webots/worlds/standard.wbt
+++ b/webots/worlds/standard.wbt
@@ -19,13 +19,15 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation 3.5569471841302057e-16 1 3.3395925506038384e-16 0.6400000000000101
-  position -1.089019602371847 -0.0006514773134054463 0.7851145507114666
+  orientation -0.02958266537290491 0.9979323923866861 -0.05705967170270157 0.9533711402318593
+  position -1.060743654360278 0.08074912051688324 1.4081895528007025
   bloomThreshold 100
 }
 DEF diyquad DiyQuad {
-  translation 0 0 0
-  rotation 0 0 -1 0
+  hidden linearVelocity_0 1.1840714082130835e-18 1.4153318748712773e-18 0.093713393205779
+  hidden angularVelocity_0 -1.385774624347475e-32 -4.1447827396307855e-17 -2.805419841743553e-17
+  translation 3.7890285062818673e-20 4.5290619995880873e-20 0.002998828582584928
+  rotation -2.7688037103805507e-16 -0.8281353711188624 -0.5605281501421888 1.6015865556978885e-18
 }
 TexturedBackground {
 }