diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto
index c297c2fc0ef..0d02f020cc5 100644
--- a/projects/robots/clearpath/heron/protos/Heron.proto
+++ b/projects/robots/clearpath/heron/protos/Heron.proto
@@ -158,15 +158,55 @@ PROTO Heron [
         viscousResistanceTorqueCoefficient 0.1
       }
     ]
-    boundingObject Transform {
-        scale 0.1 0.1 0.1
-        children [
-          Mesh {
-            url [
-              "../stl/heron_collision.stl"
-            ]
-          }
-        ]
+    boundingObject Group {
+      children [
+        Pose {
+          translation 0 -0.135 0.32
+          children [
+            Cylinder {
+              height 0.47
+              radius 0.01
+            }
+          ]
+        }
+        Pose {
+          translation 0 0.135 0.32
+          children [
+            Cylinder {
+              height 0.47
+              radius 0.01
+            }
+          ]
+        }
+        Pose {
+          translation 0 0 0.02
+          children [
+            Box {
+              size 0.9 0.6 0.12
+            }
+          ]
+        }
+        Pose {
+          translation 0.0299998 0.37 -0.09
+          rotation 0 1 0 1.5708
+          children [
+            Cylinder {
+              height 1.3
+              radius 0.14
+            }
+          ]
+        }
+        Pose {
+          translation 0.0299998 -0.37 -0.09
+          rotation 0 1 0 1.5708
+          children [
+            Cylinder {
+              height 1.3
+              radius 0.14
+            }
+          ]
+        }
+      ]
     }
     physics Physics {
       density 400
diff --git a/projects/robots/clearpath/heron/stl/heron_base.stl b/projects/robots/clearpath/heron/stl/heron_base.stl
index 808a9fd6c0c..738cc14e316 100644
Binary files a/projects/robots/clearpath/heron/stl/heron_base.stl and b/projects/robots/clearpath/heron/stl/heron_base.stl differ
diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt
index c1369503bbc..917a37cca21 100644
--- a/projects/robots/clearpath/heron/worlds/ocean.wbt
+++ b/projects/robots/clearpath/heron/worlds/ocean.wbt
@@ -1,9 +1,9 @@
 #VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/obstacles/protos/OilBarrel.proto"
-EXTERNPROTO "../protos/Heron.proto"
+EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "webots://projects/objects/obstacles/protos/OilBarrel.proto"
+EXTERNPROTO "webots://projects/robots/clearpath/heron/protos/Heron.proto"
 
 WorldInfo {
 }
@@ -30,11 +30,7 @@ DEF WATER Fluid {
     }
   ]
   viscosity 0.01
-  boundingObject Transform {
-    children [
-      USE WATER_BOX
-    ]
-  }
+  boundingObject USE WATER_BOX
   locked TRUE
 }
 Heron {
diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt
index 7b77f9a385f..92edd07ce07 100644
--- a/projects/robots/clearpath/heron/worlds/swarm.wbt
+++ b/projects/robots/clearpath/heron/worlds/swarm.wbt
@@ -1,9 +1,9 @@
 #VRML_SIM R2024a utf8
 
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/obstacles/protos/OilBarrel.proto"
-EXTERNPROTO "../protos/Heron.proto"
+EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "webots://projects/objects/obstacles/protos/OilBarrel.proto"
+EXTERNPROTO "webots://projects/robots/clearpath/heron/protos/Heron.proto"
 
 WorldInfo {
 }
@@ -30,11 +30,7 @@ DEF WATER Fluid {
     }
   ]
   viscosity 0.01
-  boundingObject Transform {
-    children [
-      USE WATER_BOX
-    ]
-  }
+  boundingObject USE WATER_BOX
   locked TRUE
 }
 OilBarrel {