Add files using upload-large-folder tool

scenes/scene_017/files.json

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@@ -7926,6 +8341,11 @@
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@@ -8041,6 +8461,11 @@
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@@ -8071,6 +8496,11 @@
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@@ -8151,6 +8581,11 @@
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@@ -8216,6 +8651,11 @@
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@@ -8281,16 +8721,31 @@
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+      "sha256": "986cc3eacb7fffd9aea55e06dbd640144ffd300e77b9bf9edd5d2340a8e4779e"
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       "bytes": 9545,
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+      "sha256": "fa77b57719ffe4a0f1e21758defb32975b1100790d7867db75cfb01a55422eda"
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@@ -8356,6 +8811,11 @@
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@@ -8381,6 +8841,11 @@
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scenes/scene_017/simulation/meshes/object_0028.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_0028">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="revolute">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.6" effort="1000" velocity="10" />
+    <dynamics damping="0.25" friction="0.08" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.354 0.022 0.24" rpy="0 0 0" />
+      <mass value="2.8" />
+      <inertia ixx="0.0538729333" iyy="0.1707216" izz="0.117074533" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.29 0.15 0.085 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0028_collision_07.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0035.urdf

@@ -0,0 +1,110 @@
+<?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="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" 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 0.21 0.12 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>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0035_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0037.urdf

@@ -0,0 +1,110 @@
+<?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="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" 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 0.21 0.12 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>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0037_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0039.urdf

@@ -0,0 +1,110 @@
+<?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="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" 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 0.21 0.12 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>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0039_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0043.urdf

@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0043">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0043_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0048.urdf

@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0048">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0048_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0050.urdf

@@ -0,0 +1,110 @@
+<?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_0050">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0098801" izz="0.0011552" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0050_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0052.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_0052">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0098801" izz="0.0011552" 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="0.1 0.21 0.12 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>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0057.urdf

@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0057">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.1 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0057_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0061.urdf

@@ -0,0 +1,110 @@
+<?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="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" 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="0.1 0.21 0.12 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>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0061_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0066.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_0066">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0098801" iyy="0.0011552" izz="0.0098801" 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="0.1 0.21 0.12 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0066_auto_13.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0078.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_0078">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="6.4" />
+      <inertia ixx="0.546666667" iyy="0.546666667" izz="0.322666667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.31 0.36 0.24 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0078_auto_21.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0079.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_0079">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="6.4" />
+      <inertia ixx="0.546666667" iyy="0.546666667" izz="0.322666667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.31 0.36 0.24 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0079_auto_21.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0083.urdf

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0083">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.08" />
+      <inertia ixx="0.000192773333" iyy="3.33333333e-06" izz="0.000195893333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0083.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.66 0.48 0.23 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0083.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0084.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_0084">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00059772" iyy="0.00059772" izz="0.00020172" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.72 0.85 0.82 0.22" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0084_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0092.urdf

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0092">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.08" />
+      <inertia ixx="0.000192773333" iyy="3.33333333e-06" izz="0.000195893333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0092.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.66 0.48 0.23 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0092_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0092_auto_01.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0096.urdf

@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0096">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.55" />
+      <inertia ixx="0.00289322917" iyy="0.00289322917" izz="0.00572916667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.91 0.88 0.78 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0096_collision_24.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0098.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_0098">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.08" />
+      <inertia ixx="0.000192773333" iyy="3.33333333e-06" izz="0.000195893333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.66 0.48 0.23 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0098.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0101.urdf

@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0101">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.55" />
+      <inertia ixx="0.00289322917" iyy="0.00289322917" izz="0.00572916667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.91 0.88 0.78 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_14.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_15.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_16.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_17.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_18.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_19.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_20.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_21.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_22.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_23.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0101_collision_24.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0102.urdf

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0102">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.08" />
+      <inertia ixx="0.000192773333" iyy="3.33333333e-06" izz="0.000195893333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.66 0.48 0.23 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0102_auto_01.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0105.urdf

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0105">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.04" />
+      <inertia ixx="4.04021333e-05" iyy="1.94033333e-05" izz="5.84988e-05" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0105.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.77 0.72 0.6 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0105_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0110.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_0110">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.04" />
+      <inertia ixx="4.04021333e-05" iyy="1.94033333e-05" izz="5.84988e-05" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0110.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.77 0.72 0.6 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0110_auto_00.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0115.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_0115">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.7" />
+      <inertia ixx="0.00531743333" iyy="0.0124107667" izz="0.0175933333" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.29 0.15 0.085 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0115_auto_04.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0117.urdf

@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0117">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.18" />
+      <inertia ixx="0.00059772" iyy="0.00059772" izz="0.00020172" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.72 0.85 0.82 0.22" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0117_auto_11.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0119.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_0119">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia ixx="0.000163541667" iyy="0.000163541667" izz="0.000326666667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.72 0.68 0.58 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0119.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0120.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_0120">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia ixx="0.000163541667" iyy="0.000163541667" izz="0.000326666667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0120.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.72 0.68 0.58 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0120.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_017/simulation/meshes/object_0122.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_0122">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.55" />
+      <inertia ixx="0.00186674583" iyy="0.00289799583" izz="0.00469791667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.31 0.07 0.065 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0122_auto_03.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0010.urdf

@@ -0,0 +1,76 @@
+<?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_0010">
+  <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="1.5" effort="1000" velocity="10" />
+    <dynamics damping="0.4" friction="0.15" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.419 -0.025 1.024" rpy="0 0 0" />
+      <mass value="22" />
+      <inertia ixx="7.69249067" iyy="8.95254067" izz="1.26591667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.88 0.86 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0010_auto_06.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0038.urdf

@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0038">
+  <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="0.3078" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0619548087 -0.0141286934" rpy="0 0 0" />
+      <mass value="2.689742" />
+      <inertia ixx="0.0563613266" iyy="0.056715047" izz="0.104998618" 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="0.58 0.365 0.185 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>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0040.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_0040">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.000764895833" iyy="0.00156114583" izz="0.00228958333" 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="0.58 0.25 0.17 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>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0041.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_0041">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.35" />
+      <inertia ixx="0.000771195833" iyy="0.00156744583" izz="0.00228958333" 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="0.07 0.13 0.2 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>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0042.urdf

@@ -0,0 +1,110 @@
+<?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_0042">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.75" />
+      <inertia ixx="0.0131675625" iyy="0.0131675625" izz="0.005832" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.89 0.84 0.72 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_10.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_11.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_12.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_13.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0042_auto_14.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0047.urdf

@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0047">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="prismatic">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.4332" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0874075608 -0.0233656323" rpy="0 0 0" />
+      <mass value="7.35737536" />
+      <inertia ixx="0.340445896" iyy="0.576499237" izz="0.861041625" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0047_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0049.urdf

@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_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="0.4332" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0874075608 -0.0233656323" rpy="0 0 0" />
+      <mass value="7.35737536" />
+      <inertia ixx="0.340445896" iyy="0.576499237" izz="0.861041625" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0049_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0051.urdf

@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0051">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="prismatic">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.4332" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0874075608 -0.0233656323" rpy="0 0 0" />
+      <mass value="7.35737536" />
+      <inertia ixx="0.340445896" iyy="0.576499237" izz="0.861041625" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0051_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0055.urdf

@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0055">
+  <link name="world_anchor">
+    <inertial>
+      <mass value="0" />
+      <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+  <joint name="joint" type="prismatic">
+    <parent link="world_anchor" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.4332" effort="1000" velocity="10" />
+    <dynamics damping="4" friction="1.5" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.0874075608 -0.0233656323" rpy="0 0 0" />
+      <mass value="7.35737536" />
+      <inertia ixx="0.340445896" iyy="0.576499237" izz="0.861041625" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_07.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_08.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_09.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0055_auto_10.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0060.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_0060">
+  <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="0.4" friction="0.15" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="0.4345 0.016 0.7" rpy="0 0 0" />
+      <mass value="5.5" />
+      <inertia ixx="0.898597333" iyy="1.24126979" izz="0.343200458" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0060_collision_07.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0062.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_0062">
+  <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="0.4" friction="0.15" />
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.4345 0.016 0.7" rpy="0 0 0" />
+      <mass value="5.5" />
+      <inertia ixx="0.898597333" iyy="1.24126979" izz="0.343200458" 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="0.58 0.365 0.185 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_00.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_01.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_02.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_03.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_04.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_05.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_06.obj" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0062_collision_07.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/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 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00291" iyy="0.00177666667" izz="0.00121866667" 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="0.58 0.25 0.17 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0067.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0068.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_0068">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00272490667" iyy="0.00145333333" izz="0.00135690667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0068.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.89 0.84 0.72 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0068.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0069.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_0069">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00229666667" iyy="0.00116333333" izz="0.00121866667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0069.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.39 0.57 0.57 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0069.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0070.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_0070">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00304824" iyy="0.00177666667" izz="0.00135690667" 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="0.115 0.32 0.36 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0070.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0071.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_0071">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00258666667" iyy="0.00145333333" izz="0.00121866667" 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="0.79 0.49 0.16 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0071.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0072.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_0072">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00243490667" iyy="0.00116333333" izz="0.00135690667" 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="0.07 0.13 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0072.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0073.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_0073">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00326666667" iyy="0.00212333333" izz="0.00120866667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.89 0.84 0.72 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0073.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0074.urdf

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Nova movable environment body for the bundled PyBullet launcher. SI metres/kg/radians. Loaded at its body origin; hinge/slider bodies use a fixed world_anchor base with one passive joint. Inertia is about COM. -->
+<robot name="nova_environment_object_0074">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00304824" iyy="0.00176666667" izz="0.00134690667" 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="0.39 0.57 0.57 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0074.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0075.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_0075">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00258666667" iyy="0.00144333333" izz="0.00120866667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.115 0.32 0.36 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0075.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0077.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_0077">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00291" iyy="0.00176666667" izz="0.00120866667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0077.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.07 0.13 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0077.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

scenes/scene_024/simulation/meshes/object_0080.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_0080">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.32" />
+      <inertia ixx="0.00304824" iyy="0.00176666667" izz="0.00134690667" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0080.obj" />
+      </geometry>
+      <material name="surface">
+        <color rgba="0.39 0.57 0.57 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="object_0080.obj" />
+      </geometry>
+    </collision>
+  </link>
+</robot>