Add files using upload-large-folder tool

archives.json

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scenes/scene_024/files.json

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scenes/scene_024/simulation/meshes/object_0043.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_0043">
+  <link name="body">
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+    </inertial>
+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="surface">
+        <color rgba="0.07 0.13 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0053.urdf

@@ -0,0 +1,100 @@
+<?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_0053">
+  <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="0.4332" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0874075608 -0.0233656323" rpy="0 0 0" />
+      <mass value="7.35737536" />
+      <inertia ixx="0.340445896" iyy="0.576499237" izz="0.861041625" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0057.urdf

@@ -0,0 +1,100 @@
+<?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_0057">
+  <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="0.4332" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0874075608 -0.0233656323" rpy="0 0 0" />
+      <mass value="7.35737536" />
+      <inertia ixx="0.340445896" iyy="0.576499237" izz="0.861041625" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0076.urdf

@@ -0,0 +1,26 @@
+<?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_0076">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00340490667" iyy="0.00212333333" izz="0.00134690667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.79 0.49 0.16 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0078.urdf

@@ -0,0 +1,26 @@
+<?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_0078">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00272490667" iyy="0.00144333333" izz="0.00134690667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.25 0.17 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0079.urdf

@@ -0,0 +1,26 @@
+<?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_0079">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00326666667" iyy="0.00212333333" izz="0.00120866667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.89 0.84 0.72 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0081.urdf

@@ -0,0 +1,26 @@
+<?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_0081">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00304866667" iyy="0.00191749333" izz="0.00122082667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0081.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.39 0.57 0.57 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0081.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0083.urdf

@@ -0,0 +1,26 @@
+<?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_0083">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00240866667" iyy="0.00127749333" izz="0.00122082667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0083.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.79 0.49 0.16 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0083.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0084.urdf

@@ -0,0 +1,26 @@
+<?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_0084">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00318690667" iyy="0.00191749333" izz="0.00135906667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.07 0.13 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0092.urdf

@@ -0,0 +1,26 @@
+<?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_0092">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00278690667" iyy="0.00151117333" izz="0.00135274667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0092.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.39 0.57 0.57 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0092.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0096.urdf

@@ -0,0 +1,50 @@
+<?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_0096">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.00184114583" iyy="0.00247114583" izz="0.00427583333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.25 0.17 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0098.urdf

@@ -0,0 +1,50 @@
+<?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_0098">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.00184114583" iyy="0.00247114583" izz="0.00427583333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.39 0.57 0.57 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0101.urdf

@@ -0,0 +1,50 @@
+<?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_0101">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.00131077917" iyy="0.00184744583" izz="0.00310916667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.07 0.13 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0102.urdf

@@ -0,0 +1,50 @@
+<?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="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.00130447917" iyy="0.00184114583" izz="0.00310916667" 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="0.39 0.57 0.57 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>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0105.urdf

@@ -0,0 +1,26 @@
+<?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_0105">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.38" />
+      <inertia ixx="0.000516103333" iyy="0.000918618333" izz="0.000838818333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0105.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.025 0.035 0.045 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0105.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0114.urdf

@@ -0,0 +1,26 @@
+<?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_0114">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.65" />
+      <inertia ixx="0.000843375" iyy="0.006471075" izz="0.007266675" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0114.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.16 0.19 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0114_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0115.urdf

@@ -0,0 +1,32 @@
+<?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_0115">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.095" />
+      <inertia ixx="0.00010096125" iyy="4.20691667e-05" izz="0.000125787917" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.88 0.86 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_01.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0117.urdf

@@ -0,0 +1,26 @@
+<?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_0117">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.55" />
+      <inertia ixx="0.0015365625" iyy="0.00144489583" izz="0.000918958333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.3 0.17 0.085 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0122.urdf

@@ -0,0 +1,50 @@
+<?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_0122">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.000589895833" iyy="0.000963229167" izz="0.00151666667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.25 0.17 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0127.urdf

@@ -0,0 +1,26 @@
+<?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="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="9" />
+      <inertia ixx="1.0086" iyy="1.0086" izz="0.5766" 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="0.115 0.32 0.36 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0127_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0143.urdf

@@ -0,0 +1,92 @@
+<?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_0143">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.7" />
+      <inertia ixx="0.0076125" iyy="0.0076125" izz="0.00672" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.16 0.19 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0143_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/files.json

@@ -1826,6 +1826,11 @@
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@@ -1886,6 +1891,11 @@
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@@ -1916,6 +1926,11 @@
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@@ -1956,6 +1971,11 @@
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@@ -2296,6 +2316,11 @@
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@@ -2321,6 +2346,11 @@
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@@ -2346,6 +2376,11 @@
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@@ -2396,6 +2436,11 @@
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@@ -2446,6 +2496,11 @@
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@@ -2566,6 +2626,11 @@
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@@ -2631,6 +2696,11 @@
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scenes/scene_056/simulation/meshes/object_0209.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_0209">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="7.4" />
+      <inertia ixx="0.0755527409" iyy="0.0755527409" izz="0.127685512" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.034 0.047 0.045 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0209_collision_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0210.urdf

@@ -0,0 +1,50 @@
+<?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_0210">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.000601993578" iyy="0.000378918288" izz="0.00097318379" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0210.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.24 0.29 0.19 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0210_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0210_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0210_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0210_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0210_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0211.urdf

@@ -0,0 +1,26 @@
+<?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_0211">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.007" />
+      <inertia ixx="1.32694262e-05" iyy="4.78869512e-07" izz="1.3691129e-05" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0211.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.56 0.39 0.22 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0211_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0213.urdf

@@ -0,0 +1,122 @@
+<?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_0213">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.29" />
+      <inertia ixx="0.000305794298" iyy="0.000452798618" izz="0.000425624582" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.8 0.79 0.71 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0213_auto_16.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0219.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_0219">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.72" />
+      <inertia ixx="0.0029907726" iyy="0.0065346126" izz="0.00365916" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0219.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.13 0.13 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0219_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0219_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0219_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0219_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0220.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_0220">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.58" />
+      <inertia ixx="0.00206339882" iyy="0.00459002382" izz="0.00258704167" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0220.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.105 0.067 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0220_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0220_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0220_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0220_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0221.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_0221">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.41" />
+      <inertia ixx="0.00121258901" iyy="0.00273163901" izz="0.00155212333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0221.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.24 0.29 0.19 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0221_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0221_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0221_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0221_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0222.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_0222">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.78" />
+      <inertia ixx="0.00355624165" iyy="0.00772820165" izz="0.00428129" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0222.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.4 0.27 0.15 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0222_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0222_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0222_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0222_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0223.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_0223">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.8" />
+      <inertia ixx="0.00444954733" iyy="0.00568373333" izz="0.00997914733" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0223.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.13 0.13 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0223_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0223_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0223_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0223_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0224.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_0224">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.46" />
+      <inertia ixx="0.00186046272" iyy="0.00261161167" izz="0.00443151772" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0224.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.105 0.067 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0224_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0224_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0224_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0224_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0225.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_0225">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.51" />
+      <inertia ixx="0.00261227142" iyy="0.0031365" izz="0.00567227142" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0225.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.8 0.77 0.66 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0225_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0225_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0225_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0225_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0226.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_0226">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.43" />
+      <inertia ixx="0.00193439836" iyy="0.0023507025" izz="0.00424382086" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0226.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.24 0.29 0.19 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0226_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0226_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0226_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0226_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0229.urdf

@@ -0,0 +1,92 @@
+<?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_0229">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.25" />
+      <inertia ixx="0.0112138542" iyy="0.0112138542" izz="0.00690083333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.8 0.79 0.71 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0229_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0230.urdf

@@ -0,0 +1,92 @@
+<?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_0230">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.46" />
+      <inertia ixx="0.00158301333" iyy="0.00158301333" izz="0.001104" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.5 0.23 0.14 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0230_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_056/simulation/meshes/object_0231.urdf

@@ -0,0 +1,92 @@
+<?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_0231">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.55" />
+      <inertia ixx="0.00201171667" iyy="0.00201171667" izz="0.00352146667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.24 0.29 0.19 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_08.obj" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0231_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/files.json

@@ -556,6 +556,11 @@
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@@ -2981,6 +3021,11 @@
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@@ -4526,6 +4571,11 @@
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+      "sha256": "bbbcd11949301d589e868f92a2a02c1c4647d45edb897d13e9552f5987473e2b"
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scenes/scene_147/simulation/meshes/object_0024.urdf

@@ -0,0 +1,208 @@
+<?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="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="1.52" effort="1000" velocity="10" />
+    <dynamics damping="0.65" friction="0.18" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.501 -0.026 1.1025" rpy="0 0 0" />
+      <mass value="23" />
+      <inertia ixx="9.12118092" iyy="11.0491559" izz="1.93608633" 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="0.1 0.39 0.43 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_06.obj" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_11.obj" />
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_12.obj" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_14.obj" />
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_16.obj" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_24.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_25.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_26.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_27.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0024_collision_28.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0047.urdf

@@ -0,0 +1,94 @@
+<?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_0047">
+  <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="0.36" effort="1000" velocity="10" />
+    <dynamics damping="2" friction="0.7" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.025 -0.016" rpy="0 0 0" />
+      <mass value="2.2" />
+      <inertia ixx="0.06570465" iyy="0.08170305" izz="0.1351284" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.39 0.43 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_09.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0074.urdf

@@ -0,0 +1,26 @@
+<?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_0074">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0.03 0.145" rpy="0 0 0" />
+      <mass value="5.8" />
+      <inertia ixx="0.171921667" iyy="0.162496667" izz="0.102321667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0074.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.055 0.075 0.085 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0074_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0075.urdf

@@ -0,0 +1,92 @@
+<?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_0075">
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.000346200001 2.43933537e-05 0.0470385821" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00038134922" iyy="0.000379557108" izz="0.00025277091" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.61 0.87 0.91 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0076.urdf

@@ -0,0 +1,224 @@
+<?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_0076">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.061" rpy="0 0 0" />
+      <mass value="0.65" />
+      <inertia ixx="0.00254843333" iyy="0.00787307083" izz="0.00683307083" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.39 0.43 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_24.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_25.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_26.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_27.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_28.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_29.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_30.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_31.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_32.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0076_auto_33.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0089.urdf

@@ -0,0 +1,94 @@
+<?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_0089">
+  <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="0.36" effort="1000" velocity="10" />
+    <dynamics damping="2" friction="0.7" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.025 -0.016" rpy="0 0 0" />
+      <mass value="2.2" />
+      <inertia ixx="0.06570465" iyy="0.08170305" izz="0.1351284" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.39 0.43 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0089_auto_09.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0116.urdf

@@ -0,0 +1,26 @@
+<?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_0116">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0.03 0.145" rpy="0 0 0" />
+      <mass value="5.8" />
+      <inertia ixx="0.171921667" iyy="0.162496667" izz="0.102321667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0116.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.055 0.075 0.085 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0116_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0117.urdf

@@ -0,0 +1,92 @@
+<?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_0117">
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.000346200001 2.43933537e-05 0.0470385821" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00038134922" iyy="0.000379557108" izz="0.00025277091" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.61 0.87 0.91 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0118.urdf

@@ -0,0 +1,278 @@
+<?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_0118">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.061" rpy="0 0 0" />
+      <mass value="0.65" />
+      <inertia ixx="0.00254843333" iyy="0.00787307083" izz="0.00683307083" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.39 0.43 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_24.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_25.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_26.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_27.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_28.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_29.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_30.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_31.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_32.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_33.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_34.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_35.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_36.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_37.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_38.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_39.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_40.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_41.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0118_auto_42.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_147/simulation/meshes/object_0160.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_0160">
+  <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="0.6" effort="1000" velocity="10" />
+    <dynamics damping="0.12" friction="0.9" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.175 -0.5" rpy="0 0 0" />
+      <mass value="0.4" />
+      <inertia ixx="0.0400833333" iyy="0.0390166667" izz="0.00277333333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.98 0.76 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0160_auto_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>