Add files using upload-large-folder tool

scenes/scene_028/files.json

@@ -2081,6 +2081,11 @@
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       "sha256": "bb83a9ce31d9ab68414b506431765fd043cd992b360d259006c54af180b074c2"
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+      "sha256": "d312bd7b37abc4eea568c3d0ed52bf3ef6c15739b35c4dfc5cbfc475aebf99ae"
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@@ -3661,6 +3671,11 @@
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       "sha256": "be72715b2adca4a251f8fe98e61a2bb388754542c7fb5fbd2183d9b552d68c21"
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+    {
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+      "sha256": "ba35788e29e2e0d719a3355a5c9f289517d8c55f6ed0bcd9d77117e1a5476dd4"
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@@ -3686,6 +3701,11 @@
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+      "sha256": "0aa2a7618d0b1edb204c781d61ad111102b231da7eef8cd8e7eab497392aaa70"
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@@ -3711,11 +3731,21 @@
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+    {
+      "path": "simulation/meshes/object_0205.urdf",
+      "bytes": 942,
+      "sha256": "a232eae082ab4c3f453da9ccfcd0ff2788e863ba3da98cd482f8c6ce932ce771"
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     {
       "path": "simulation/meshes/object_0206.obj",
       "bytes": 108368,
       "sha256": "597c668bd5f69348f94e6b56936345a7fa1bb18c3eb00ad9b31643c632fab47f"
     },
+    {
+      "path": "simulation/meshes/object_0206.urdf",
+      "bytes": 2714,
+      "sha256": "cd4fc7aa6b2ed6937cf27fade132edca38b47305a885d38ad7cb8f4cbac70bf1"
+    },
     {
       "path": "simulation/meshes/object_0206_auto_00.obj",
       "bytes": 12053,
@@ -3781,6 +3811,11 @@
       "bytes": 207576,
       "sha256": "56735cc5c8e2176426d07a405bf8af359e90fa4592daf641dcf43e12f03c9158"
     },
+    {
+      "path": "simulation/meshes/object_0207.urdf",
+      "bytes": 2715,
+      "sha256": "24536d6a3af29bbe64b95db364158f2b988ba30e7e41f83d15e8de31917ff4e0"
+    },
     {
       "path": "simulation/meshes/object_0207_auto_00.obj",
       "bytes": 33921,
@@ -3911,6 +3946,11 @@
       "bytes": 51719,
       "sha256": "6e60ff99ec2042bed2635b09f3f316943ac995f34d98888c10479505011d7cff"
     },
+    {
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+      "bytes": 1427,
+      "sha256": "42049db9f51d1378856f2f96f2fee87524d3bb5b3f964ccecfd03d54931dfbef"
+    },
     {
       "path": "simulation/meshes/object_0214_auto_00.obj",
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@@ -3936,6 +3976,11 @@
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       "sha256": "e7c239ff5266947e8be70b721a7f0ad47c8070da801d2dbba286be33150e6b22"
     },
+    {
+      "path": "simulation/meshes/object_0215.urdf",
+      "bytes": 1415,
+      "sha256": "299bba5a3bca27c53702b062f85a8f69ddeb7e1aac35de5df05e3aeb16c2042f"
+    },
     {
       "path": "simulation/meshes/object_0215_auto_00.obj",
       "bytes": 833,

scenes/scene_028/simulation/meshes/object_0121.urdf

@@ -0,0 +1,82 @@
+<?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_0121">
+  <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="1.7" effort="1000" velocity="10" />
+    <dynamics damping="0.1" friction="0.035" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.3665 0.0155 0" rpy="0 0 0" />
+      <mass value="2.5" />
+      <inertia ixx="0.0225333333" iyy="0.134348542" izz="0.112055208" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.34 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0121_collision_07.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_028/simulation/meshes/object_0123.urdf

@@ -0,0 +1,82 @@
+<?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_0123">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.7" upper="0" effort="1000" velocity="10" />
+    <dynamics damping="0.1" friction="0.035" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.3665 0.0155 0" rpy="0 0 0" />
+      <mass value="2.5" />
+      <inertia ixx="0.0225333333" iyy="0.134348542" izz="0.112055208" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.34 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0123_collision_07.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_028/simulation/meshes/object_0203.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_0203">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.72" />
+      <inertia ixx="0.00296544" iyy="0.00510744" izz="0.00795" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0203.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.52 0.26 0.16 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0203_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0203_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0203_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0203_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_028/simulation/meshes/object_0204.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_0204">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.48" />
+      <inertia ixx="0.00198502443" iyy="0.00290739496" izz="0.00484633939" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0204.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.33 0.43 0.38 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0204_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0204_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0204_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0204_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_028/simulation/meshes/object_0205.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_0205">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.14" />
+      <inertia ixx="0.000322198578" iyy="7.22203817e-05" izz="0.000383125626" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0205.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.075 0.083 0.079 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0205.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_028/simulation/meshes/object_0206.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_0206">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.26" />
+      <inertia ixx="0.000739266667" iyy="0.000739266667" izz="0.00131196" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.74 0.68 0.55 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0206_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_028/simulation/meshes/object_0207.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_0207">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.65" />
+      <inertia ixx="0.00474608333" iyy="0.00474608333" izz="0.00335573333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.74 0.68 0.55 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0207_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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scenes/scene_028/simulation/meshes/object_0214.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_0214">
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scenes/scene_028/simulation/meshes/object_0215.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_0215">
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+  </link>
+</robot>

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@@ -4316,6 +4486,11 @@
       "bytes": 68443,
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+    {
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+      "bytes": 2737,
+      "sha256": "0962616dd6407f9fd10f6e66162d2ed3f4e7e3bab057f8f3ccb1205bcd29fdbc"
+    },
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       "bytes": 1662,
@@ -4381,6 +4556,11 @@
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       "sha256": "88608c0ee8b9a38ced0d4c094d8ee5a858721fae01b9c9f169b5d9083fdf7495"
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+    {
+      "path": "simulation/meshes/object_0072.urdf",
+      "bytes": 3396,
+      "sha256": "c9ab11053c1988ba0da953623da4997e780e832cc75456dd9ffd39ded7cb8d58"
+    },
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       "path": "simulation/meshes/object_0072_auto_00.obj",
       "bytes": 9856,
@@ -4466,6 +4646,11 @@
       "bytes": 148924,
       "sha256": "694fd8de91e8ed5ed3854fff10e871e3560801439814f583e4ee371b719122b7"
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+    {
+      "path": "simulation/meshes/object_0073.urdf",
+      "bytes": 3383,
+      "sha256": "3cde62f463d0df20be05e673b19f8b69d0cfaa5c6a8114c5eac5c8740eec0d06"
+    },
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       "path": "simulation/meshes/object_0073_auto_00.obj",
       "bytes": 9856,
@@ -4551,6 +4736,11 @@
       "bytes": 148924,
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+    {
+      "path": "simulation/meshes/object_0074.urdf",
+      "bytes": 3398,
+      "sha256": "20c4ce7d16b15c43fb72cc91cb79e9767eb08e3f5566bfba4729c8bbe05c58fc"
+    },
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       "bytes": 9856,

scenes/scene_034/simulation/meshes/object_0020.urdf

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0020">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.11022302e-16 -0.0165666248 0.244624986" rpy="0 0 0" />
+      <mass value="5.8" />
+      <inertia ixx="0.419724715" iyy="0.424699793" izz="0.194667767" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0020_auto_18.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0021.urdf

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0021">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.11022302e-16 -0.0165666248 0.244624986" rpy="0 0 0" />
+      <mass value="5.8" />
+      <inertia ixx="0.419724715" iyy="0.424699793" izz="0.194667767" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0021_auto_18.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0022.urdf

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0022">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.33066907e-16 0.0165666248 0.244624986" rpy="0 0 0" />
+      <mass value="5.8" />
+      <inertia ixx="0.419724715" iyy="0.424699793" izz="0.194667767" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0022_auto_18.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0023.urdf

@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0023">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.22044605e-16 0.0165666248 0.244624986" rpy="0 0 0" />
+      <mass value="5.8" />
+      <inertia ixx="0.419724715" iyy="0.424699793" izz="0.194667767" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0023_auto_18.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0025.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_0025">
+  <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="1.58" effort="1000" velocity="10" />
+    <dynamics damping="0.35" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.410985023 0.0416455794 -0.0135562434" rpy="0 0 0" />
+      <mass value="6" />
+      <inertia ixx="0.139377548" iyy="0.455950986" izz="0.333561953" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.4 0.49 0.41 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0025_collision_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0026.urdf

@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0026">
+  <link name="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="1.58" effort="1000" velocity="10" />
+    <dynamics damping="0.35" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.409704271 0.0412972199 -0.0234905806" rpy="0 0 0" />
+      <mass value="15" />
+      <inertia ixx="1.8969007" iyy="2.66667445" izz="0.807594755" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.4 0.49 0.41 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0026_collision_17.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0027.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0027">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.22044605e-16 0.0208608102 -1.55431223e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0027_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0028.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0028">
+  <link name="body">
+    <inertial>
+      <origin xyz="2.44249065e-15 0.0208608102 -1.11022302e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0029.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0029">
+  <link name="body">
+    <inertial>
+      <origin xyz="-4.21884749e-15 0.0208608102 -5.77315973e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0029_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0030.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0030">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.33066907e-15 0.0208608102 -4.21884749e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0030_auto_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0031.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0031">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.10862447e-15 0.0208608102 -1.11022302e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0031_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0032.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0032">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.22044605e-16 0.0208608102 -1.11022302e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0032_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0033.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0033">
+  <link name="body">
+    <inertial>
+      <origin xyz="2.22044605e-16 0.0208608102 -4.4408921e-16" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0033_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0034.urdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0034">
+  <link name="body">
+    <inertial>
+      <origin xyz="-4.21884749e-15 0.0208608102 -6.66133815e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0034_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0035.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0035">
+  <link name="body">
+    <inertial>
+      <origin xyz="-4.4408921e-16 0.0208608102 6.66133815e-16" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0036.urdf

@@ -0,0 +1,98 @@
+<?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_0036">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.10862447e-15 0.0208608102 -4.88498131e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0036_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0037.urdf

@@ -0,0 +1,98 @@
+<?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_0037">
+  <link name="body">
+    <inertial>
+      <origin xyz="8.8817842e-16 0.0208608102 1.02140518e-14" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0038.urdf

@@ -0,0 +1,98 @@
+<?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_0038">
+  <link name="body">
+    <inertial>
+      <origin xyz="-4.4408921e-16 0.0208608102 6.21724894e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0038_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0039.urdf

@@ -0,0 +1,98 @@
+<?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_0039">
+  <link name="body">
+    <inertial>
+      <origin xyz="4.21884749e-15 0.0208608102 9.76996262e-15" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0040.urdf

@@ -0,0 +1,104 @@
+<?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_0040">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.77475828e-15 0.0208608102 -2.22044605e-16" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0040_auto_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0041.urdf

@@ -0,0 +1,98 @@
+<?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_0041">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.42108547e-14 0.0208608102 -1.04360964e-14" rpy="0 0 0" />
+      <mass value="1.16" />
+      <inertia ixx="0.00712381519" iyy="0.000804453218" izz="0.00712381519" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.2 0.135 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0041_auto_12.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0046.urdf

@@ -0,0 +1,106 @@
+<?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_0046">
+  <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="1.58" effort="1000" velocity="10" />
+    <dynamics damping="0.35" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.313253153 0.0155664784 0.00144019525" rpy="0 0 0" />
+      <mass value="3.2" />
+      <inertia ixx="0.102243471" iyy="0.223934471" izz="0.122420421" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0046_collision_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0047.urdf

@@ -0,0 +1,106 @@
+<?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="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="1.58" effort="1000" velocity="10" />
+    <dynamics damping="0.35" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.313253153 0.0155664784 0.00144019525" rpy="0 0 0" />
+      <mass value="3.2" />
+      <inertia ixx="0.102243471" iyy="0.223934471" izz="0.122420421" 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="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_collision_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0049.urdf

@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0049">
+  <link name="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="0.285" effort="1000" velocity="10" />
+    <dynamics damping="2" friction="0.8" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="1.94289029e-16 -0.0970478171 -0.0133121662" rpy="0 0 0" />
+      <mass value="3.5" />
+      <inertia ixx="0.0853772848" iyy="0.669789984" izz="0.751001044" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.35 0.205 0.115 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_07.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0052.urdf

@@ -0,0 +1,332 @@
+<?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_0052">
+  <link name="body">
+    <inertial>
+      <origin xyz="-7.05425805e-05 -0.000248775604 -0.0140584362" rpy="0 0 0" />
+      <mass value="1.65" />
+      <inertia ixx="0.0178471032" iyy="0.0178667778" izz="0.0109128322" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.64 0.31 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_24.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_25.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_26.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_27.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_28.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_29.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_30.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_31.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_32.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_33.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_34.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_35.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_36.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_37.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_38.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_39.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_40.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_41.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_42.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_43.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_44.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_45.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_46.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_47.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_48.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_49.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_50.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0052_auto_51.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0053.urdf

@@ -0,0 +1,152 @@
+<?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="body">
+    <inertial>
+      <origin xyz="0.00772225246 2.40077162e-05 -0.0160453054" rpy="0 0 0" />
+      <mass value="0.82" />
+      <inertia ixx="0.00660306555" iyy="0.00741308078" izz="0.00401050583" 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="0.94 0.9 0.8 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>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0053_auto_21.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0061.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_0061">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.77555756e-17 -2.22044605e-15 -0.00901033342" rpy="0 0 0" />
+      <mass value="0.55" />
+      <inertia ixx="0.00403493451" iyy="0.00791257889" izz="0.0118467783" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.235 0.135 0.078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0062.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_0062">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -5.55111512e-17 -0.000749032438" rpy="0 0 0" />
+      <mass value="0.44" />
+      <inertia ixx="0.0016609898" iyy="0.0016609898" izz="0.00327785275" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0063.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_0063">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.33066907e-16 8.32667268e-17 -0.000749032438" rpy="0 0 0" />
+      <mass value="0.44" />
+      <inertia ixx="0.0016609898" iyy="0.0016609898" izz="0.00327785275" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0063_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0064.urdf

@@ -0,0 +1,116 @@
+<?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_0064">
+  <link name="body">
+    <inertial>
+      <origin xyz="0.00321517172 1.73472348e-18 0.00330618981" rpy="0 0 0" />
+      <mass value="0.27" />
+      <inertia ixx="0.000331781245" iyy="0.000377287911" izz="0.000287530325" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.4 0.49 0.41 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0064_auto_15.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0065.urdf

@@ -0,0 +1,116 @@
+<?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_0065">
+  <link name="body">
+    <inertial>
+      <origin xyz="0.00321517172 -3.88578059e-16 0.00330618981" rpy="0 0 0" />
+      <mass value="0.27" />
+      <inertia ixx="0.000331781245" iyy="0.000377287911" izz="0.000287530325" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.4 0.49 0.41 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0065_auto_15.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0066.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_0066">
+  <link name="body">
+    <inertial>
+      <origin xyz="0.0014403372 -5.7644235e-05 0.000509455554" rpy="0 0 0" />
+      <mass value="0.045" />
+      <inertia ixx="0.00016416164" iyy="5.18585604e-05" izz="0.000215814803" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.72 0.66 0.52 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0067.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_0067">
+  <link name="body">
+    <inertial>
+      <origin xyz="0.0014403372 5.7644235e-05 0.000509455554" rpy="0 0 0" />
+      <mass value="0.045" />
+      <inertia ixx="0.00016416164" iyy="5.18585604e-05" izz="0.000215814803" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0067.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.72 0.66 0.52 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0067_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0070.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_0070">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.22044605e-16 0 -0.000749032438" rpy="0 0 0" />
+      <mass value="0.44" />
+      <inertia ixx="0.0016609898" iyy="0.0016609898" izz="0.00327785275" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0071.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_0071">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 8.8817842e-16 -0.000749032438" rpy="0 0 0" />
+      <mass value="0.44" />
+      <inertia ixx="0.0016609898" iyy="0.0016609898" izz="0.00327785275" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_08.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" />
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+        <mesh filename="object_0071_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0072.urdf

@@ -0,0 +1,116 @@
+<?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_0072">
+  <link name="body">
+    <inertial>
+      <origin xyz="1.38777878e-17 3.55271368e-15 0.00692366464" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00114896792" iyy="0.00114896792" izz="0.000220143034" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072_auto_15.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0073.urdf

@@ -0,0 +1,116 @@
+<?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_0073">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 6.66133815e-15 0.00692366464" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00114896792" iyy="0.00114896792" izz="0.000220143034" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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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>
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+    <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" />
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073_auto_12.obj" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073_auto_15.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_034/simulation/meshes/object_0074.urdf

@@ -0,0 +1,116 @@
+<?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="-1.66533454e-16 -2.66453526e-15 0.00692366464" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00114896792" iyy="0.00114896792" izz="0.000220143034" 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="0.94 0.9 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0074_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0074_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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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" />
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+    <collision>
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+    <collision>
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+    <collision>
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+    <collision>
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+    <collision>
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0074_auto_15.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_036/files.json

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