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+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
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+      <geometry>
+        <mesh filename="object_0011_collision_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0011_collision_20.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0020.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0020">
+  <link name="body">
+    <inertial>
+      <origin xyz="1.11022302e-16 -0.010304 -2.22044605e-16" rpy="0 0 0" />
+      <mass value="0.82" />
+      <inertia ixx="0.00878132324" iyy="0.00563612513" izz="0.00378368291" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.6 0.22 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0021.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0021">
+  <link name="body">
+    <inertial>
+      <origin xyz="5.55111512e-17 -0.009704 5.55111512e-17" rpy="0 0 0" />
+      <mass value="0.62" />
+      <inertia ixx="0.00613727806" iyy="0.00397324107" izz="0.002355989" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.15 0.28 0.32 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0022.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0022">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.11022302e-16 -0.008904 -5.55111512e-17" rpy="0 0 0" />
+      <mass value="0.45" />
+      <inertia ixx="0.00355400489" iyy="0.002274738" izz="0.00136559489" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.74 0.68 0.53 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0023.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0023">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.010104 5.55111512e-17" rpy="0 0 0" />
+      <mass value="0.72" />
+      <inertia ixx="0.00773672092" iyy="0.0050393016" izz="0.00310135372" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.34 0.13 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0024.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0024">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.009304 0" rpy="0 0 0" />
+      <mass value="0.64" />
+      <inertia ixx="0.00581625949" iyy="0.00391696213" izz="0.00230224136" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.29 0.34 0.22 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0025.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0025">
+  <link name="body">
+    <inertial>
+      <origin xyz="-5.55111512e-17 -0.008504 0" rpy="0 0 0" />
+      <mass value="0.4" />
+      <inertia ixx="0.00286995407" iyy="0.00185770133" izz="0.00107897274" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.6 0.22 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0026.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0026">
+  <link name="body">
+    <inertial>
+      <origin xyz="5.55111512e-17 -0.010104 -1.11022302e-16" rpy="0 0 0" />
+      <mass value="0.69" />
+      <inertia ixx="0.00741435754" iyy="0.0047929332" izz="0.00293573314" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.74 0.68 0.53 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0027.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0027">
+  <link name="body">
+    <inertial>
+      <origin xyz="1.11022302e-16 -0.009704 0" rpy="0 0 0" />
+      <mass value="0.54" />
+      <inertia ixx="0.00510334322" iyy="0.0032098752" izz="0.00204332882" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.15 0.28 0.32 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0028.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0028">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.009704 -2.22044605e-16" rpy="0 0 0" />
+      <mass value="0.7" />
+      <inertia ixx="0.00661544491" iyy="0.00426802133" izz="0.00275583158" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.29 0.34 0.22 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0029.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0029">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.009304 0" rpy="0 0 0" />
+      <mass value="0.57" />
+      <inertia ixx="0.00469765811" iyy="0.0029508463" izz="0.00199518361" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.6 0.22 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0030.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0030">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.008904 0" rpy="0 0 0" />
+      <mass value="0.44" />
+      <inertia ixx="0.00313194434" iyy="0.0018932848" izz="0.00134742754" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.74 0.68 0.53 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0031.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0031">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.11022302e-16 -0.010104 -2.22044605e-16" rpy="0 0 0" />
+      <mass value="0.8" />
+      <inertia ixx="0.00898158324" iyy="0.00602137867" izz="0.00348287657" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.15 0.28 0.32 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0032.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0032">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.009704 0" rpy="0 0 0" />
+      <mass value="0.68" />
+      <inertia ixx="0.0067312082" iyy="0.00442126027" izz="0.00264749993" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.34 0.13 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0033.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0033">
+  <link name="body">
+    <inertial>
+      <origin xyz="1.11022302e-16 -0.008904 0" rpy="0 0 0" />
+      <mass value="0.49" />
+      <inertia ixx="0.00386991644" iyy="0.00250578813" izz="0.00151583231" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.74 0.68 0.53 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0034.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0034">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.010504 2.22044605e-16" rpy="0 0 0" />
+      <mass value="0.87" />
+      <inertia ixx="0.00969719619" iyy="0.0061952961" izz="0.00420226749" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.6 0.22 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0035.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0035">
+  <link name="body">
+    <inertial>
+      <origin xyz="4.4408921e-16 -0.009704 0" rpy="0 0 0" />
+      <mass value="0.66" />
+      <inertia ixx="0.00623741949" iyy="0.0040023742" izz="0.00257659529" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.29 0.34 0.22 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0048.urdf

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0048">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 1.38777878e-17 -0.00248461538" rpy="0 0 0" />
+      <mass value="0.65" />
+      <inertia ixx="0.00878503068" iyy="0.0225625898" izz="0.0309358925" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.53 0.32 0.16 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_029/simulation/meshes/object_0049.urdf

@@ -0,0 +1,356 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0049">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.11022302e-16 0 0.0138823529" rpy="0 0 0" />
+      <mass value="1.7" />
+      <inertia ixx="0.0195422098" iyy="0.0195422098" izz="0.009596" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.83 0.78 0.64 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_24.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_25.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_26.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_27.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_28.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_29.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_30.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_31.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_32.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_33.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_34.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_35.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_36.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_37.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_38.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_39.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_40.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_41.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_42.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_43.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_44.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_45.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_46.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_47.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_48.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_49.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_50.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_51.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_52.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_53.obj" />
+      </geometry>
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scenes/scene_064/files.json

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scenes/scene_064/simulation/meshes/object_0100.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0100">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="prismatic">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.38" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="3.5" />
+      <inertia ixx="0.0987583333" iyy="0.112747833" izz="0.190447833" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0100_auto_16.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0102.urdf

@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0102">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="prismatic">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.38" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="3.5" />
+      <inertia ixx="0.106458333" iyy="0.120447833" izz="0.190447833" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_16.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0104.urdf

@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0104">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="prismatic">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.38" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="3.5" />
+      <inertia ixx="0.112758333" iyy="0.126747833" izz="0.190447833" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0104_auto_16.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0106.urdf

@@ -0,0 +1,118 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0106">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.48" effort="1000" velocity="10" />
+    <dynamics damping="1" friction="2" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.2885" rpy="0 0 0" />
+      <mass value="7" />
+      <inertia ixx="0.197066917" iyy="0.373242917" izz="0.181892667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.63 0.67 0.67 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0106_auto_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0109.urdf

@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0109">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.65" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.292 0.016 0" rpy="0 0 0" />
+      <mass value="3.2" />
+      <inertia ixx="0.148874667" iyy="0.236877867" izz="0.088944" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0109_auto_08.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0112.urdf

@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0112">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.65" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.442 0.016 0" rpy="0 0 0" />
+      <mass value="3.2" />
+      <inertia ixx="0.148874667" iyy="0.353037867" izz="0.205104" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0112_auto_08.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0119.urdf

@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0119">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.42" />
+      <inertia ixx="0.00101815" iyy="0.000948535" izz="0.000412615" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.91 0.82 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0124.urdf

@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0124">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.6" upper="0" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.292 0.016 0" rpy="0 0 0" />
+      <mass value="3" />
+      <inertia ixx="0.14950225" iyy="0.23194" izz="0.08345025" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0124_auto_08.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_064/simulation/meshes/object_0127.urdf

@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0127">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.6" effort="1000" velocity="10" />
+    <dynamics damping="0.5" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.292 0.016 0" rpy="0 0 0" />
+      <mass value="3" />
+      <inertia ixx="0.14950225" iyy="0.23194" izz="0.08345025" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.45 0.56 0.46 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_08.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>