Исправлены баги, добавлен код Object.proto, в который будут подставлятяь 3д объекты для последующего спавна

src/iiwa_description/resource/protos/Object.proto

@@ -0,0 +1,39 @@
+#VRML_SIM R2025a utf8
+# Describe the functionality of your PROTO here.
+# template language: javascript
+
+
+PROTO Object [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "my_object"
+  field MFString object_path []
+  field SFNode physics Physics{  }
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    contactMaterial "tool"
+    
+    children [
+      Shape {
+        appearance PBRAppearance {
+          roughness 1
+          metalness 0
+        }
+        geometry Mesh {
+          url IS object_path
+        }
+      }
+    ]
+    
+    boundingObject Mesh {
+      url IS object_path
+    }
+    
+    physics IS physics
+    
+  }
+}

src/iiwa_description/worlds/iiwa.wbt

@@ -5,9 +5,13 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/project
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
 EXTERNPROTO "../resource/protos/CollaborativeRobotTable.proto"
 EXTERNPROTO "../resource/protos/WorkspaceLimiter.proto"
+EXTERNPROTO "../resource/protos/Object.proto"
+
 
 WorldInfo {
   title "iiwa robotics"
+  basicTimeStep 10
+  optimalThreadCount 4
   contactProperties [
     ContactProperties {
       material1 "TableMaterial"
@@ -19,11 +23,18 @@ WorldInfo {
       softERP 1
       softCFM 0.0001
     }
+    ContactProperties {
+      material1 "tool"
+      material2 "TableMaterial"
+      bounce 0
+      softCFM 0.002
+      maxContactJoints 100
+    }
   ]
 }
 Viewpoint {
-  orientation 0.19675345789351045 -0.08356742903703787 -0.976885132249993 3.928186370440618
-  position 5.324715157515194 -4.7927780008585446 4.166958679133935
+  orientation 0.19663259328507318 -0.09057124279298501 -0.9762850368805829 3.9867817928674034
+  position 5.0239232195737245 -5.039192619765231 4.166958679133935
   followType "Mounted Shot"
   ambientOcclusionRadius 3
 }
@@ -34,7 +45,7 @@ TexturedBackgroundLight {
   luminosity 2
 }
 RectangleArena {
-  name "Room"
+  name "Arena"
   floorSize 12 12
   wallHeight 2
 }
@@ -43,8 +54,7 @@ CollaborativeRobotTable {
   locked TRUE
   showCabinet TRUE
 }
-
-Group {
+DEF limiter Group {
   children [
     WorkspaceLimiter {
       translation -1.56 -0.219999 1.01