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diff --git a/external/rlbench/rlbench/assets/procedural_objects/006/006.urdf b/external/rlbench/rlbench/assets/procedural_objects/006/006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90b5444920ea8114bc2cc94a6691b82bf0b3f7da
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/006/006.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/006/006_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/006/006_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/006/006_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/006/006_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/006/006_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8033bb988e1798178bd8ce32b6c0601809cf32
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/007/007.mtl b/external/rlbench/rlbench/assets/procedural_objects/007/007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1870f5df42a888a70c9992e24b9cc8f56bc2189a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/007/007.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/007/007.obj b/external/rlbench/rlbench/assets/procedural_objects/007/007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d25b0429612d111b5bd602a6c09473cdbe64d4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/007/007.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/007/007.png b/external/rlbench/rlbench/assets/procedural_objects/007/007.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/007/007.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/007/007.urdf b/external/rlbench/rlbench/assets/procedural_objects/007/007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21fdbe3e274937d406626ffd066961acb9188b5d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/007/007.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/007/007_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/007/007_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/007/007_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/007/007_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/007/007_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d5b73a6ab30f16262458d861ab4a742d2a45dc1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/007/007_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/008/008.mtl b/external/rlbench/rlbench/assets/procedural_objects/008/008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b191400a4bc8b9ccc6115b60ff9be91912add35
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/008/008.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 008_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.410628 0.393860 0.084836
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 008.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/008/008.obj b/external/rlbench/rlbench/assets/procedural_objects/008/008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba791e81ace67b61bfcb3f25fabc9bcba41343e5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/008/008.obj
@@ -0,0 +1,332 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/008/008.png b/external/rlbench/rlbench/assets/procedural_objects/008/008.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/008/008.urdf b/external/rlbench/rlbench/assets/procedural_objects/008/008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d9e3ac8a99e332034d99965d4ef8e0742c257b4
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/008/008_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/008/008_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/008/008_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/008/008_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/008/008_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecce508bdad18fd8b85b9b2f319cc6ac753445e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/009/009.mtl b/external/rlbench/rlbench/assets/procedural_objects/009/009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1624978269788d96611fbc52435c79a7b1a37d5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/009/009.mtl
@@ -0,0 +1,12 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/009/009.obj b/external/rlbench/rlbench/assets/procedural_objects/009/009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dfbdccb6a95507de33b9b703815c4239877b761
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/009/009.obj
@@ -0,0 +1,5130 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/009/009.png b/external/rlbench/rlbench/assets/procedural_objects/009/009.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/009/009.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/009/009.urdf b/external/rlbench/rlbench/assets/procedural_objects/009/009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ff0f433da14abb84c13e3757add7768c30ae47b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/009/009.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/009/009_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/009/009_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/009/009_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/009/009_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/009/009_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2282a942f5b5c2d14acef5eb590b6bfbcb788413
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/010/010.mtl b/external/rlbench/rlbench/assets/procedural_objects/010/010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef6a8847f86f712aa3abbc379e03bd328990dea
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/010/010.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 010_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.440186 0.178192 0.780258
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 010.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/010/010.obj b/external/rlbench/rlbench/assets/procedural_objects/010/010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c046ef50d5ac38b738e2c3ce355d6313bfa4243a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/010/010.obj
@@ -0,0 +1,763 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/010/010.png b/external/rlbench/rlbench/assets/procedural_objects/010/010.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/010/010.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/010/010.urdf b/external/rlbench/rlbench/assets/procedural_objects/010/010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b83ee601002de7e8815add6683328f3ceaf06915
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/010/010.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/010/010_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/010/010_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/010/010_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/010/010_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/010/010_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf042bb348d4f00811360fd75f9dfc8c8e795d5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/010/010_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/011/011.mtl b/external/rlbench/rlbench/assets/procedural_objects/011/011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f2423ad4ea79fdc60c46f431837527a7be15874
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/011/011.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 011_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
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+illum 2
+map_Kd 011.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/011/011.obj b/external/rlbench/rlbench/assets/procedural_objects/011/011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0f6881daea568068a72788f857011ceebf6200
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/011/011.obj
@@ -0,0 +1,307 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 011.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/011/011.png b/external/rlbench/rlbench/assets/procedural_objects/011/011.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/011/011.urdf b/external/rlbench/rlbench/assets/procedural_objects/011/011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e2db75940edf49d4fb8c1036af16338f27f985d
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/011/011_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/011/011_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/011/011_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/011/011_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20e054a52d43363dcff5df4ee840fea647c88ff
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/012/012.mtl b/external/rlbench/rlbench/assets/procedural_objects/012/012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb502d2020883e9f6710847f84e326e113f97173
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/012/012.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 012_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/012/012.obj b/external/rlbench/rlbench/assets/procedural_objects/012/012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc05b78abda515a2ea92a149746adda8bade267
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/012/012.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/012/012.png b/external/rlbench/rlbench/assets/procedural_objects/012/012.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/012/012.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/012/012.urdf b/external/rlbench/rlbench/assets/procedural_objects/012/012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13fa5fcd3195d16eae1592d940fc49d951f07ddf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/012/012.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/012/012_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/012/012_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/012/012_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/012/012_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/012/012_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a69589022c81fd707525f7c9aee1698b32339de
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/013/013.mtl b/external/rlbench/rlbench/assets/procedural_objects/013/013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8fdad4ce1c679f9762551c3ebdcc38d6d69c8853
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/013/013.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+illum 2
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/013/013.obj b/external/rlbench/rlbench/assets/procedural_objects/013/013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7751cd571c65a40567998ef72cdf9bc89fb45f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/013/013.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/013/013.png b/external/rlbench/rlbench/assets/procedural_objects/013/013.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/013/013.urdf b/external/rlbench/rlbench/assets/procedural_objects/013/013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7c8096abdc892055a47a0dcc9ea4eb80cc75100
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/013/013_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/013/013_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/013/013_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/013/013_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf71f33a9c14576f0d5e63c44e0b83134267b7f
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new file mode 100644
index 0000000000000000000000000000000000000000..174636d05de02d63fd918505e2000cfde4ea3e25
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/014/014.obj b/external/rlbench/rlbench/assets/procedural_objects/014/014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f536d140708e822483dadb2f26c4f4548d710860
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..38d68d044d2c610e392c7073604586f46f7b2e6e
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/014/014_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/014/014_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/014/014_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99b2681df402626f64b4adab78a5a1ab433fa5a
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/015/015.mtl b/external/rlbench/rlbench/assets/procedural_objects/015/015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99faeec28316946b1292485751797cdd623b074c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/015/015.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 015_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.085070 0.018352 0.323708
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 015.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/015/015.obj b/external/rlbench/rlbench/assets/procedural_objects/015/015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d835740100ed27fe6a27aec2e3249f55a456f2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/015/015.obj
@@ -0,0 +1,6814 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/015/015.urdf b/external/rlbench/rlbench/assets/procedural_objects/015/015.urdf
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/015/015_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/015/015_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/015/015_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/015/015_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b5489e257b73f96b0e439c6d0fe64390c93200
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/016/016.mtl b/external/rlbench/rlbench/assets/procedural_objects/016/016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b469378cbbe55d664de620fe6807fa88a075dbc7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/016/016.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 016_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.316815 0.260957 0.156102
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 016.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/016/016.obj b/external/rlbench/rlbench/assets/procedural_objects/016/016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1266c8473268137f296947c775bb3959c6da849
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/016/016.obj
@@ -0,0 +1,290 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 016.mtl
+o 016_Cube.077
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/017/017.mtl b/external/rlbench/rlbench/assets/procedural_objects/017/017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81d1491c6431acf383ddf37bee748984c9e5457c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/017/017.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/017/017.obj b/external/rlbench/rlbench/assets/procedural_objects/017/017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8037b9fd255ebc1b7b52e5b8dfe5d8471c5439c9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/017/017.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/017/017.png b/external/rlbench/rlbench/assets/procedural_objects/017/017.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/017/017.urdf b/external/rlbench/rlbench/assets/procedural_objects/017/017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b5cb6523f87780e99979c513e0e65c374997aee
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/017/017_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/017/017_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/017/017_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/017/017_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5cdcf5d3622e4b7b16009d3feb23d3d29656b3b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/018/018.mtl b/external/rlbench/rlbench/assets/procedural_objects/018/018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9db9be1570bcddd95ea36eb2684f3d84cd556c1e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/018/018.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 018_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.523334 0.029332 0.146961
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 018.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/018/018.obj b/external/rlbench/rlbench/assets/procedural_objects/018/018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fd6449e2ac35696549f220daf935cd03290e6b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/018/018.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/018/018.png b/external/rlbench/rlbench/assets/procedural_objects/018/018.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/018/018.urdf b/external/rlbench/rlbench/assets/procedural_objects/018/018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d15448f85c9cd46dc73e29052d5aa7d558a32c85
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/018/018_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/018/018_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/018/018_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/018/018_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522905471f205815544c2abc07816d8268321ed4
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/019/019.mtl b/external/rlbench/rlbench/assets/procedural_objects/019/019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..87a05702d6adca5cddd53986b4a19b5a1cf9f6d9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/019/019.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/019/019.obj b/external/rlbench/rlbench/assets/procedural_objects/019/019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4e6e53599aea92ee8d22e5a3f65f65ad7759ec
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/019/019.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/019/019.png b/external/rlbench/rlbench/assets/procedural_objects/019/019.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/019/019.urdf b/external/rlbench/rlbench/assets/procedural_objects/019/019.urdf
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/019/019_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/019/019_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..2cbe4a99a2ea73077c84f9ff2fb731ebe2085373
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/020/020.mtl b/external/rlbench/rlbench/assets/procedural_objects/020/020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..492bc9403d4e2d67144eb045b7abf7111d52a56f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/020/020.mtl
@@ -0,0 +1,12 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/020/020.obj b/external/rlbench/rlbench/assets/procedural_objects/020/020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b34eef79cc5ef65f5ec372ee5d7e298f08a3ece
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/020/020.obj
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/020/020.urdf b/external/rlbench/rlbench/assets/procedural_objects/020/020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..40c222f0bb719c16777472ddf3058c068e018b30
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/020/020_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/020/020_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/020/020_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/020/020_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26174c740b78231a3854c86cb72e73fe0c143619
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/021/021.mtl b/external/rlbench/rlbench/assets/procedural_objects/021/021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb98864b4df052ebea3e36b4fd07975525f3adcf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/021/021.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 021_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 021.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/021/021.obj b/external/rlbench/rlbench/assets/procedural_objects/021/021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829e17ebf200a2d9d21a6a80d1762bcb13b28d8e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/021/021.obj
@@ -0,0 +1,1930 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/021/021.png b/external/rlbench/rlbench/assets/procedural_objects/021/021.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/021/021.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/021/021.urdf b/external/rlbench/rlbench/assets/procedural_objects/021/021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..29d9cbfa646d495e4c5a6f755b774f4fb88aced6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/021/021.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/021/021_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/021/021_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/021/021_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
+d 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/021/021_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/021/021_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e1ee6580abd49f05e402043e6b96c1566aba6a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/021/021_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/022/022.mtl b/external/rlbench/rlbench/assets/procedural_objects/022/022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee2a2f4d2fa203525b828ed8426db212316371ba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/022/022.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/022/022.obj b/external/rlbench/rlbench/assets/procedural_objects/022/022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2c099600efc293a4a07f969738e61449e00546
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/022/022.png b/external/rlbench/rlbench/assets/procedural_objects/022/022.png
new file mode 100644
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Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/022/022.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/022/022.urdf b/external/rlbench/rlbench/assets/procedural_objects/022/022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f0bce82eefbb9325e4e7d3bcc3add36dd112fb3e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/022/022.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/022/022_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/022/022_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/022/022_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/022/022_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/022/022_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f266ba874f6c44ff61873eb98cbce3176b2b66e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/022/022_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/023/023.mtl b/external/rlbench/rlbench/assets/procedural_objects/023/023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4407495b1cc76d6fe91553a93881c2457c411e1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/023/023.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 023_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 023.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/023/023.obj b/external/rlbench/rlbench/assets/procedural_objects/023/023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07bec5ef95e32e1373029907402a65f55163d2e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/023/023.obj
@@ -0,0 +1,6730 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/023/023.png b/external/rlbench/rlbench/assets/procedural_objects/023/023.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/023/023.urdf b/external/rlbench/rlbench/assets/procedural_objects/023/023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38dc6999d426b562af8c8eba46522c67745ce819
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/023/023_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/023/023_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/023/023_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/023/023_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778552490be51671572516379dcbd30274b9f36d
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/024/024.mtl b/external/rlbench/rlbench/assets/procedural_objects/024/024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb75128f944b66976ebda89b3806235d3c8d4cfc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/024/024.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 024_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.166200 0.722170 0.159278
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 024.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/024/024.obj b/external/rlbench/rlbench/assets/procedural_objects/024/024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5519fee1b46a0e70733030fadde55cc418f72d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/024/024.obj
@@ -0,0 +1,4441 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/024/024_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/024/024_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f8fa2020e7c3ac6feb19bdb504f9055499045e
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/025/025.mtl b/external/rlbench/rlbench/assets/procedural_objects/025/025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f543e016d5c84f57198468e2a396614bfa8eba9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/025/025.mtl
@@ -0,0 +1,12 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/025/025.obj b/external/rlbench/rlbench/assets/procedural_objects/025/025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba37e9c73808aae86dd0e9c4f7dfbdf63de4fe0b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/025/025.obj
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..8786bfb10157de8a21b08d8b4293c94a52e6048d
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/026/026.mtl b/external/rlbench/rlbench/assets/procedural_objects/026/026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df04e1f66a7afe91079e05c2a03872a4558ec193
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/026/026.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/026/026.obj b/external/rlbench/rlbench/assets/procedural_objects/026/026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a71f95f21dec03c38c86764a9599142db62fdb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/026/026.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/026/026.urdf b/external/rlbench/rlbench/assets/procedural_objects/026/026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3eb8b31445e76c6e516deeca54c586cefd24fb80
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/026/026_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/026/026_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/026/026_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/026/026_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/026/026_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..774a5e05540638b1e7a61a7e4844c155acdc02fa
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/027/027.mtl b/external/rlbench/rlbench/assets/procedural_objects/027/027.mtl
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index 0000000000000000000000000000000000000000..3c6288a6782b1d0b0876ab2f7a964c5533c61845
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/027/027.obj b/external/rlbench/rlbench/assets/procedural_objects/027/027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c02b60d413d642e56731f4593978dd96f35347
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+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/027/027_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/027/027_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf3965287a39ef8e0743ee0b809b3126f572778c
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/028/028.mtl b/external/rlbench/rlbench/assets/procedural_objects/028/028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf9bda1a36855beb05dbe892cb7e3d387da4fada
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/028/028.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 028_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 028.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/028/028.obj b/external/rlbench/rlbench/assets/procedural_objects/028/028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..939257f2767721bf02a5dbea0d55eaf214b00c3b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/028/028.obj
@@ -0,0 +1,6001 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/028/028.png b/external/rlbench/rlbench/assets/procedural_objects/028/028.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/028/028.urdf b/external/rlbench/rlbench/assets/procedural_objects/028/028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f67f53739a1f74509b71b533c253ff6905f8b67e
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/028/028_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/028/028_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/028/028_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/028/028_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/028/028_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9923f2427962c9a34aaa66e8ca7c20e7f3bd648
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/029/029.mtl b/external/rlbench/rlbench/assets/procedural_objects/029/029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1b3cb5843b39b399f3840ee6d68fccca4336320
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/029/029.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/029/029.obj b/external/rlbench/rlbench/assets/procedural_objects/029/029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a088e0eec70759b8dfee254f3f6ae83fe1f9fa7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/029/029.obj
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/029/029.urdf b/external/rlbench/rlbench/assets/procedural_objects/029/029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4e83e567e963cd6c6caaa0ef26ad05ffbc0ad712
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/029/029.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/029/029_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/029/029_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/029/029_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/029/029_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/029/029_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9b465147732fc911f2f98697e0cce9d67b7844
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/030/030.mtl b/external/rlbench/rlbench/assets/procedural_objects/030/030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a1399cd4f9767e269b63885bfd97581bdf7e792d
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+++ b/external/rlbench/rlbench/assets/procedural_objects/030/030.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/030/030.obj b/external/rlbench/rlbench/assets/procedural_objects/030/030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf2f74a0ba246a88f74d040bfd5e4437d2e2c1fd
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/030/030.png b/external/rlbench/rlbench/assets/procedural_objects/030/030.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/030/030.urdf b/external/rlbench/rlbench/assets/procedural_objects/030/030.urdf
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/030/030_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/030/030_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/030/030_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a4592bbc3e96120834f1157e12753cc78e1c29
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/031/031.mtl b/external/rlbench/rlbench/assets/procedural_objects/031/031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f905ebd49f248098a1556b57d37efe86f9c9e9ef
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/031/031.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/031/031.obj b/external/rlbench/rlbench/assets/procedural_objects/031/031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c6697c7d8823945942e691943df9382a0fc0f8
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/031/031.png b/external/rlbench/rlbench/assets/procedural_objects/031/031.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/031/031.urdf b/external/rlbench/rlbench/assets/procedural_objects/031/031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0f2166d8d92984eb0b12e6329f4306c9d1493060
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/031/031_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/031/031_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/031/031_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/031/031_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..930779013761f0558db042b20e6790d6e568dccb
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/032/032.mtl b/external/rlbench/rlbench/assets/procedural_objects/032/032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76dba1ebee2854dcdf3333403fa3402d7ef4c35b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/032/032.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 032_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.352388 0.255388 0.702234
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 032.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/032/032.obj b/external/rlbench/rlbench/assets/procedural_objects/032/032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b80622bbdd381ee4dc8454d5db1b84d4982398e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/032/032.obj
@@ -0,0 +1,1921 @@
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--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/032/032.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/032/032_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/032/032_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/032/032_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/032/032_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/032/032_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c174e83569095b1a6a6bb3da556eba7e1cc91f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/032/032_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/033/033.mtl b/external/rlbench/rlbench/assets/procedural_objects/033/033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..439135503f6c1bd5438cb7f1cbdb38d1966d45e7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/033/033.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 033_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 033.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/033/033.obj b/external/rlbench/rlbench/assets/procedural_objects/033/033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda9843272a8e3d3ef07d664f59962302f92f70d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/033/033.obj
@@ -0,0 +1,5005 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/033/033_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/033/033_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/033/033_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/external/rlbench/rlbench/assets/procedural_objects/033/033_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/033/033_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff476e0dca02b3ea1893812b98c6c2f65bcc21ea
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/033/033_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/034/034.mtl b/external/rlbench/rlbench/assets/procedural_objects/034/034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a48e963ccdd630d057666cec1e592be6419fbe1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/034/034.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 034_mtl
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+d 1.000000
+illum 2
+map_Kd 034.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/034/034.obj b/external/rlbench/rlbench/assets/procedural_objects/034/034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b67f0c3e0ef8877ac6ba765a297cefae92bbd51
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/034/034.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/034/034.png b/external/rlbench/rlbench/assets/procedural_objects/034/034.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/034/034.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/034/034.urdf b/external/rlbench/rlbench/assets/procedural_objects/034/034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd5cc10d0ce8bf2a5d1f5a220f2c57b6ef0b4aa3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/034/034.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/034/034_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/034/034_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/034/034_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/034/034_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/034/034_coll.obj
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index 0000000000000000000000000000000000000000..83814eba85414f59c5f31e4ad539511c08cbeec6
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/035/035.mtl b/external/rlbench/rlbench/assets/procedural_objects/035/035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4701fa5d310b8d4a72de965cd87a474f18ab93
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/035/035.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 035_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.069302 0.258974 0.137348
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 035.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/035/035.obj b/external/rlbench/rlbench/assets/procedural_objects/035/035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc24eb893056b5800acbcecd3309bd0f0e46b65
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/035/035.obj
@@ -0,0 +1,218 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 035.mtl
+o 035_Cube.148
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/035/035.png b/external/rlbench/rlbench/assets/procedural_objects/035/035.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/035/035.urdf b/external/rlbench/rlbench/assets/procedural_objects/035/035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df0a35293da3e323bb8411fddc65aac595bb3e5b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/035/035_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/035/035_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/035/035_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/035/035_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a1f1e7223648ebf4da77455028c9300f254aeb
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/036/036.mtl b/external/rlbench/rlbench/assets/procedural_objects/036/036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb4deb3be8a9fbae432117271cd0ddbc0c07f0e6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/036/036.mtl
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+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/036/036.obj b/external/rlbench/rlbench/assets/procedural_objects/036/036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51aeeb7288e1f5d8cee2154ae5a9ad9e7429043e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/036/036.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/036/036.png b/external/rlbench/rlbench/assets/procedural_objects/036/036.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/036/036.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/036/036.urdf b/external/rlbench/rlbench/assets/procedural_objects/036/036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e4c2ad4deced83ff20cbff26d180e0347d1f2ff1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/036/036.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/036/036_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/036/036_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/036/036_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/036/036_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/036/036_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a1a0e9bf57f4c3afaea112f957dce5b1242931
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/036/036_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/037/037.mtl b/external/rlbench/rlbench/assets/procedural_objects/037/037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cff16a7d417b7fa3d5422c70d2dfa4c7de7f3122
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/037/037.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/037/037.obj b/external/rlbench/rlbench/assets/procedural_objects/037/037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814a02b1d3b2eca8afa70f196c059b1cf2813d09
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/037/037.obj
@@ -0,0 +1,310 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/037/037.urdf b/external/rlbench/rlbench/assets/procedural_objects/037/037.urdf
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..1f5f6c49f6c583b72309efe45ed91255603c325f
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/038/038.mtl b/external/rlbench/rlbench/assets/procedural_objects/038/038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..108ca93a8f536701e264678aa32e4dd59b6f96d0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/038/038.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/038/038.obj b/external/rlbench/rlbench/assets/procedural_objects/038/038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4eb28d94305d912d4ef2eaeca9e56bd5fe1e5fb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/038/038.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/038/038.png b/external/rlbench/rlbench/assets/procedural_objects/038/038.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/038/038.urdf b/external/rlbench/rlbench/assets/procedural_objects/038/038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22067c1b82e893c4541fe98da0edeb72bb462f7a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/038/038.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/038/038_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/038/038_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/038/038_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/038/038_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/038/038_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb380517d2a9f1fa5fb87177ea2fda4d09d3644
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/038/038_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/039/039.mtl b/external/rlbench/rlbench/assets/procedural_objects/039/039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba6961f41a9b8ff1ec308557194f82d55f73ec05
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/039/039.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+d 1.000000
+illum 2
+map_Kd 039.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/039/039.obj b/external/rlbench/rlbench/assets/procedural_objects/039/039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44f3d8c5b660d563581d0eaa8b81a4427f4de4e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/039/039.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/039/039.png b/external/rlbench/rlbench/assets/procedural_objects/039/039.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/039/039.urdf b/external/rlbench/rlbench/assets/procedural_objects/039/039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96f05ccbc4bddd36004b7924c0bc224b910e29fe
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/039/039_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/039/039_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/039/039_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/039/039_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/039/039_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2646487842d6e9e5b96f95e94bf16261053e1d
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/040/040.mtl b/external/rlbench/rlbench/assets/procedural_objects/040/040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ed394c17c02135adc2aa1a074876372705743a32
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/040/040.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 040_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 040.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/040/040.obj b/external/rlbench/rlbench/assets/procedural_objects/040/040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbe7ef63201098ced38b45b4ac69607eb67792a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/040/040.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/040/040.png b/external/rlbench/rlbench/assets/procedural_objects/040/040.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/040/040.urdf b/external/rlbench/rlbench/assets/procedural_objects/040/040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d0a646206ff185d59d718052cb384990f3ea61fe
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/040/040_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/040/040_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/040/040_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/040/040_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f414f4a661b5496cb9ec5abc3281cc416411e1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/041/041.mtl b/external/rlbench/rlbench/assets/procedural_objects/041/041.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1778b686d051a214c57382ee7027b54740193d06
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/041/041.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/041/041.obj b/external/rlbench/rlbench/assets/procedural_objects/041/041.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48381754897449683796a7607c49ec3125eb95b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/041/041.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/041/041.png b/external/rlbench/rlbench/assets/procedural_objects/041/041.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/041/041.urdf b/external/rlbench/rlbench/assets/procedural_objects/041/041.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..42fe7d742f600bae232f73444a47ed80a5bd664d
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/041/041_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/041/041_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/041/041_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/041/041_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/041/041_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ceb9d860e8bc0ac8f7a927a5c99efaf85fb6e5
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/042/042.mtl b/external/rlbench/rlbench/assets/procedural_objects/042/042.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..965020850f9fc69da9895339f3325fb2a43fa162
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/042/042.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 042_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 042.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/042/042.obj b/external/rlbench/rlbench/assets/procedural_objects/042/042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f5701435563bfc86376e385b77c081418b696b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/042/042.obj
@@ -0,0 +1,5771 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/042/042.png b/external/rlbench/rlbench/assets/procedural_objects/042/042.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/042/042.urdf b/external/rlbench/rlbench/assets/procedural_objects/042/042.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2de918f9edbb73a6bd873e87ac37e5b2820982dd
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/042/042_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/042/042_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/042/042_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/042/042_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/042/042_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309cfaf123e265ae8457ed3ace49c9df1c924fca
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/043/043.mtl b/external/rlbench/rlbench/assets/procedural_objects/043/043.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58ef1d3e2c9c7b01faf13522b24c4b6b86c46e4f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/043/043.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/043/043.obj b/external/rlbench/rlbench/assets/procedural_objects/043/043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295e53a0fb8832b50c2f9cdb500c853ee653d147
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/043/043.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/043/043_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/043/043_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/043/043_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/043/043_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/043/043_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44458b37dac648f3ef6b64f34da1fde6eb98ded
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/044/044.mtl b/external/rlbench/rlbench/assets/procedural_objects/044/044.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..13fa47673cd18d53f3621c69e6d7d8d5fb5cf6dd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/044/044.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/044/044.obj b/external/rlbench/rlbench/assets/procedural_objects/044/044.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6183e11e512ff69d904b930981bb2b52b5454c74
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/044/044.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/044/044.png b/external/rlbench/rlbench/assets/procedural_objects/044/044.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/044/044.urdf b/external/rlbench/rlbench/assets/procedural_objects/044/044.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ac54febf93c863a1831cb9e6c06392d34f74c3e6
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/044/044_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/044/044_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/044/044_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/044/044_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059ef7b9675ed4ec9b51fed36a8a15838d9b596c
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/045/045.mtl b/external/rlbench/rlbench/assets/procedural_objects/045/045.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e88538fff445f91ef034eecc604adb45653ba95c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/045/045.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 045_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 045.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/045/045.obj b/external/rlbench/rlbench/assets/procedural_objects/045/045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369ea5a04e5f41787ffe4c15abb1ed8b046f5296
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/045/045.obj
@@ -0,0 +1,6038 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/045/045.urdf b/external/rlbench/rlbench/assets/procedural_objects/045/045.urdf
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/045/045_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/045/045_coll.obj
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/046/046.mtl b/external/rlbench/rlbench/assets/procedural_objects/046/046.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5af9969c8319aa4cf9215b4da5ca71c4ab931f13
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/046/046.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/046/046.obj b/external/rlbench/rlbench/assets/procedural_objects/046/046.obj
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index 0000000000000000000000000000000000000000..f4030f54761766c35ac1f074acc0cbc58e9690fd
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..17e00786569a4f19f1703f7aa41da10cbabc8cff
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/047/047.mtl b/external/rlbench/rlbench/assets/procedural_objects/047/047.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64081c07a23216a39b83ba6b1af410528ddd1404
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/047/047.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 047_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.548043 0.195339 0.613916
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 047.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/047/047.obj b/external/rlbench/rlbench/assets/procedural_objects/047/047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c0f9b00333c098c433fe8b1b93ca1eab54df7a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/047/047.obj
@@ -0,0 +1,3225 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/047/047.png b/external/rlbench/rlbench/assets/procedural_objects/047/047.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/047/047.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/047/047.urdf b/external/rlbench/rlbench/assets/procedural_objects/047/047.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..91dd0f7542bd5c292b99d39108e58cebe78c64e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/047/047.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/047/047_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/047/047_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/047/047_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/external/rlbench/rlbench/assets/procedural_objects/047/047_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/047/047_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..644d7ce39256b6574d862c1d1320713d13120f05
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/047/047_coll.obj
@@ -0,0 +1,942 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/048/048.mtl b/external/rlbench/rlbench/assets/procedural_objects/048/048.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1213c4f1721aab57224a59b3d085b6ab58664eba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/048/048.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/048/048.obj b/external/rlbench/rlbench/assets/procedural_objects/048/048.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a9d4cbe8c5cd00ca146060e265aea74bcc0268
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/048/048.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/048/048.png b/external/rlbench/rlbench/assets/procedural_objects/048/048.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/048/048.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/048/048.urdf b/external/rlbench/rlbench/assets/procedural_objects/048/048.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fec5ee6a5f0a93416625acff53f04845299c6e78
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/048/048.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/048/048_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/048/048_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/048/048_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
+d 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/048/048_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/048/048_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7091556eb3fc7c1f63897b1670300ddb25c38c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/048/048_coll.obj
@@ -0,0 +1,837 @@
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index 0000000000000000000000000000000000000000..0a472697d10239f9b85eefc75cb4b360a245b307
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/049/049.obj b/external/rlbench/rlbench/assets/procedural_objects/049/049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde582217a705eda98ea65d9a9f74686137f9f16
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/050/050.mtl b/external/rlbench/rlbench/assets/procedural_objects/050/050.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92525fbbfc83f849e259db5b198774b03e230f6d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/050/050.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 050_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.693236 0.558742 0.172935
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 050.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/050/050.obj b/external/rlbench/rlbench/assets/procedural_objects/050/050.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1457c331ab4611097c90384d60e3996737dba9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/050/050.obj
@@ -0,0 +1,1873 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/050/050.png b/external/rlbench/rlbench/assets/procedural_objects/050/050.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/050/050.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/050/050.urdf b/external/rlbench/rlbench/assets/procedural_objects/050/050.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16656a4ad5221003f11baba47f332c27307c509b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/050/050.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/050/050_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/050/050_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/050/050_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/050/050_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/050/050_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c14767006530dc8325e4c77629627ec6cffa8d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/050/050_coll.obj
@@ -0,0 +1,747 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/051/051.mtl b/external/rlbench/rlbench/assets/procedural_objects/051/051.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..985ee88dac41d755a6a49d5b383f5a657cbdf68d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/051/051.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 051_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.266232 0.109108 0.123628
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 051.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/051/051.obj b/external/rlbench/rlbench/assets/procedural_objects/051/051.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f063ae9164d2a276fba7354581443cffce60e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/051/051.obj
@@ -0,0 +1,5697 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 051.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/051/051.urdf b/external/rlbench/rlbench/assets/procedural_objects/051/051.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a637bfcb02b32db0efe35150266922e29c3168c1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/051/051_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/051/051_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/051/051_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/051/051_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5159594a6fbf344e35781dfec158b66dd237e1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/052/052.mtl b/external/rlbench/rlbench/assets/procedural_objects/052/052.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f0f6a5e3d171947e1da838b55415ae1e6675e08
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/052/052.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 052_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.333000 0.293844 0.645222
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 052.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/052/052.obj b/external/rlbench/rlbench/assets/procedural_objects/052/052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe0814aa596183c474a893a653295a0813dcedac
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/052/052.obj
@@ -0,0 +1,5945 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/052/052.png b/external/rlbench/rlbench/assets/procedural_objects/052/052.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/052/052.urdf b/external/rlbench/rlbench/assets/procedural_objects/052/052.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..517373fc29fa4e9e51ed5c47d38c27151052e4b2
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/052/052_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/052/052_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/052/052_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/052/052_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/052/052_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec3769a0beb5e549d341353c5793792bbfaaf82
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/053/053.mtl b/external/rlbench/rlbench/assets/procedural_objects/053/053.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8141a44e6fba3d5660a415c4cad203719f936083
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/053/053.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 053_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 053.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/053/053.obj b/external/rlbench/rlbench/assets/procedural_objects/053/053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd24a1ae4b6383177f730bda0638d4fd83809cd2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/053/053.obj
@@ -0,0 +1,2992 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/053/053.png b/external/rlbench/rlbench/assets/procedural_objects/053/053.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/053/053.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/053/053.urdf b/external/rlbench/rlbench/assets/procedural_objects/053/053.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d692fadf8cc44261b61f33a5e5b400db1e1e793
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/053/053.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/053/053_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/053/053_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/053/053_coll.mtl
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+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/053/053_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/053/053_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..777120c60a210c4d42177c047559c01aef8626ec
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/054/054.mtl b/external/rlbench/rlbench/assets/procedural_objects/054/054.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b184d554d58c89694a7876473d71899d96a86267
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/054/054.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 054_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.279349 0.677424 0.681940
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 054.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/054/054.obj b/external/rlbench/rlbench/assets/procedural_objects/054/054.obj
new file mode 100644
index 0000000000000000000000000000000000000000..284c1b06ded0364d11fd4504ff3f69a4f3c1c65a
--- /dev/null
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/055/055.mtl b/external/rlbench/rlbench/assets/procedural_objects/055/055.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a42121030a719f8c44c6cf366ea7acbc63a63e84
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/055/055.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 055_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.381566 0.166874 0.413713
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 055.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/055/055.obj b/external/rlbench/rlbench/assets/procedural_objects/055/055.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebfe06b823cc13b5f9b11740f795b664c321217
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/055/055.obj
@@ -0,0 +1,423 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/056/056.mtl b/external/rlbench/rlbench/assets/procedural_objects/056/056.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f259eef73747b6398a5ae98d2cf91f2b0fc49450
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/056/056.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 056_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.388839 0.048754 0.202990
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 056.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/056/056.obj b/external/rlbench/rlbench/assets/procedural_objects/056/056.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d737c7ea08905e794e31d15cb11bd5e34e5ebf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/056/056.obj
@@ -0,0 +1,5940 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/056/056.png b/external/rlbench/rlbench/assets/procedural_objects/056/056.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/056/056.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/056/056.urdf b/external/rlbench/rlbench/assets/procedural_objects/056/056.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f0b7ed2796c58219db469bae2e8da6893cbae4bf
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/056/056_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/056/056_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/056/056_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/056/056_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/056/056_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a6eee76a1c054b70298140700bb8377a6bcfdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/057/057.mtl b/external/rlbench/rlbench/assets/procedural_objects/057/057.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6de51fb03651b6e12db9731da4598ff8779ed42
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/057/057.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/057/057.obj b/external/rlbench/rlbench/assets/procedural_objects/057/057.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca933d0f8fcc4d8cfc28fb8f41acbcdcb8af5e4f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/057/057.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/057/057.png b/external/rlbench/rlbench/assets/procedural_objects/057/057.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/057/057.urdf b/external/rlbench/rlbench/assets/procedural_objects/057/057.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..863610bf574fff943750d57ebe6e604702a46004
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/057/057_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/057/057_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/057/057_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/057/057_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15af5cc629ea83974acf8eb9190674ec6446b980
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/058/058.mtl b/external/rlbench/rlbench/assets/procedural_objects/058/058.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73f6d736cfb5929628e1f7c52a47ee50e4e3cad6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/058/058.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 058_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 058.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/058/058.obj b/external/rlbench/rlbench/assets/procedural_objects/058/058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3fbe618a8a0fed68d0832f71dece3967b549f39
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/058/058.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/058/058.png b/external/rlbench/rlbench/assets/procedural_objects/058/058.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/058/058.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/058/058.urdf b/external/rlbench/rlbench/assets/procedural_objects/058/058.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b4656438ae0072ff319d3177eeb8819e570f5d7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/058/058.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/058/058_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/058/058_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/058/058_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/058/058_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/058/058_coll.obj
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/060/060.mtl b/external/rlbench/rlbench/assets/procedural_objects/060/060.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f32ff6f458abf4f6e53445953db1e85bbd5875e7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/060/060.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 060_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 060.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/060/060.obj b/external/rlbench/rlbench/assets/procedural_objects/060/060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bef418374aa01e3ece91c7a76c62542e2719d23
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/060/060.obj
@@ -0,0 +1,5288 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/060/060.png b/external/rlbench/rlbench/assets/procedural_objects/060/060.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/060/060.urdf b/external/rlbench/rlbench/assets/procedural_objects/060/060.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ef0bb4b202dbefeb82d054f9140f17962bf82635
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/060/060_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/060/060_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/060/060_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/060/060_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/060/060_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3561f34b67429d1aea9412d156952671bce0619c
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/061/061.mtl b/external/rlbench/rlbench/assets/procedural_objects/061/061.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e64974586c684b59689186b71f06e480d29715d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/061/061.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 061_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.190640 0.211810 0.105400
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 061.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/061/061.obj b/external/rlbench/rlbench/assets/procedural_objects/061/061.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49376624045a6e16e6454475e0976c3cdf07fd36
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/061/061.obj
@@ -0,0 +1,7231 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/061/061.png b/external/rlbench/rlbench/assets/procedural_objects/061/061.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/061/061.urdf b/external/rlbench/rlbench/assets/procedural_objects/061/061.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7f440abcfcf1c53d2989c51df804873d58f897a2
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/061/061_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/061/061_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/061/061_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/061/061_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/061/061_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda7642667c0cad0f8e4a5962ea29456ced2a7bd
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/062/062.mtl b/external/rlbench/rlbench/assets/procedural_objects/062/062.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..66b74a9117d067af2dc5ffb4de53ec44682ed54f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/062/062.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 062_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 062.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/062/062.obj b/external/rlbench/rlbench/assets/procedural_objects/062/062.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ebfe10f716b31c443a6a85cc3facf4bb53840f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/062/062.obj
@@ -0,0 +1,3241 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..7339b00a43ff3e04ec6b343338b0e47c8309798a
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/063/063.mtl b/external/rlbench/rlbench/assets/procedural_objects/063/063.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d422ce82ebf185b4f8de0c0fb17d89006bd3be65
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/063/063.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+d 1.000000
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/063/063.obj b/external/rlbench/rlbench/assets/procedural_objects/063/063.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551354ee333f4829fa66017be677acf62be4f486
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/063/063.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/063/063.png b/external/rlbench/rlbench/assets/procedural_objects/063/063.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/063/063.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/063/063.urdf b/external/rlbench/rlbench/assets/procedural_objects/063/063.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..921b8d192ad0695df5903d1f11138ebc6827ebce
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/063/063.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/063/063_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/063/063_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/063/063_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/063/063_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/063/063_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484b14c9fe39ad06a56f7b6c816bce595766f91d
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/064/064.mtl b/external/rlbench/rlbench/assets/procedural_objects/064/064.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec3090f25a0f66cb665cd806449c8c632b53d08c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/064/064.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/064/064.obj b/external/rlbench/rlbench/assets/procedural_objects/064/064.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aee80e93e52f1de453e6564e3e55c7a03940140
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/064/064.obj
@@ -0,0 +1,443 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/065/065.mtl b/external/rlbench/rlbench/assets/procedural_objects/065/065.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eda683f3139b3f371a673ea9211fb7b79a24e4c6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/065/065.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 065_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 065.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/065/065.obj b/external/rlbench/rlbench/assets/procedural_objects/065/065.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ac6ef51364a739ba8c5c384f3595425308a62d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/065/065.obj
@@ -0,0 +1,5254 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/065/065.png b/external/rlbench/rlbench/assets/procedural_objects/065/065.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/065/065.urdf b/external/rlbench/rlbench/assets/procedural_objects/065/065.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e27a0620a4f15efd2a765aaaa511422d87139042
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/065/065_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/065/065_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/065/065_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/065/065_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8906d060e6e7348a1ef5a098d6bf70ce5975724
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/066/066.mtl b/external/rlbench/rlbench/assets/procedural_objects/066/066.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d11ce5e13a37a21d42fdf9d468340406ea318e95
--- /dev/null
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index 0000000000000000000000000000000000000000..99acc76d97dc9a14c77b3574090ce5e9a0e33856
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/067/067.mtl b/external/rlbench/rlbench/assets/procedural_objects/067/067.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a1be8233c99dd438797288bbd1f082d5ce763650
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/067/067.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 067_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 067.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/067/067.obj b/external/rlbench/rlbench/assets/procedural_objects/067/067.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595567d1be4a5198e436269c2c30e87d7685d03c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/067/067.obj
@@ -0,0 +1,370 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/067/067.urdf b/external/rlbench/rlbench/assets/procedural_objects/067/067.urdf
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..e0d8f8c538d523a4a7d3e0c1770c4f972aab5944
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/068/068.mtl b/external/rlbench/rlbench/assets/procedural_objects/068/068.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca597d55327c702fcd6dd937725021e3d380b700
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/068/068.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 068_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 068.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/068/068.obj b/external/rlbench/rlbench/assets/procedural_objects/068/068.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499f9bade9109008794a99c46aad25633101842c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/068/068.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/068/068.png b/external/rlbench/rlbench/assets/procedural_objects/068/068.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/068/068.urdf b/external/rlbench/rlbench/assets/procedural_objects/068/068.urdf
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/068/068_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/068/068_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/068/068_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/068/068_coll.obj
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index 0000000000000000000000000000000000000000..cec9ed6667b3e1f3a755cee29fe1e90d810130c5
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/069/069.mtl b/external/rlbench/rlbench/assets/procedural_objects/069/069.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..191682a5223033659fe4f85a15bf2eb33a43da6a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/069/069.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 069_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.328667 0.206123 0.122171
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 069.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/069/069.obj b/external/rlbench/rlbench/assets/procedural_objects/069/069.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa7a38c11344aee2dc6d937625d04ef41a69a51a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/069/069.obj
@@ -0,0 +1,5984 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/069/069.png b/external/rlbench/rlbench/assets/procedural_objects/069/069.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/069/069.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/069/069.urdf b/external/rlbench/rlbench/assets/procedural_objects/069/069.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f5f1007696da4bcb507aa7f8e9957f7c6b1cdea
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/069/069_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/069/069_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/069/069_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/069/069_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/069/069_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ddc84809e1e1d47e9ce3c7d7537a84861822dea
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/070/070.mtl b/external/rlbench/rlbench/assets/procedural_objects/070/070.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..428c475e3a9673f1b1247a59cd2b22ea795e1d51
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/070/070.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 070_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.153010 0.227371 0.486742
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 070.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/070/070.obj b/external/rlbench/rlbench/assets/procedural_objects/070/070.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957a3b1f12359ab57b2fe58f5759de664ca67b74
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/070/070.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/070/070_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/070/070_coll.mtl
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/070/070_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/070/070_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/071/071.mtl b/external/rlbench/rlbench/assets/procedural_objects/071/071.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/071/071.obj b/external/rlbench/rlbench/assets/procedural_objects/071/071.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/071/071.urdf b/external/rlbench/rlbench/assets/procedural_objects/071/071.urdf
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/071/071_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/071/071_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/071/071_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/071/071_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134287ef419a3c88964eb1d9812ec78f87ed39b5
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/072/072.mtl b/external/rlbench/rlbench/assets/procedural_objects/072/072.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc0ee43e2f7a90e25e9731f4570a3888f161b118
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/072/072.obj b/external/rlbench/rlbench/assets/procedural_objects/072/072.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f904fa6f1881cc8397427c762c6fb7d417acadb
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/072/072.png b/external/rlbench/rlbench/assets/procedural_objects/072/072.png
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..32af3234a632bef385c0e11af4f5d4710b2edf56
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/073/073.mtl b/external/rlbench/rlbench/assets/procedural_objects/073/073.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fff33076f7a36374bbb3d6e53e4c75a84a6e163f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/073/073.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 073_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.705187 0.716761 0.306666
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 073.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/073/073.obj b/external/rlbench/rlbench/assets/procedural_objects/073/073.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bca7f93ad38fb86f10bd638a3e0c8d2bacca025
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/073/073.obj
@@ -0,0 +1,5259 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/073/073.png b/external/rlbench/rlbench/assets/procedural_objects/073/073.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/073/073.urdf b/external/rlbench/rlbench/assets/procedural_objects/073/073.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0a4e04744447d1ce67a0c715d657721b5426d244
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/073/073_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/073/073_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/073/073_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/073/073_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321685a1eb1ec92e6ebad13741ebd96ade12682b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/074/074.mtl b/external/rlbench/rlbench/assets/procedural_objects/074/074.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..62ebdf797210c62dfc698b588ee08e7f0c14d5a9
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/074/074.obj b/external/rlbench/rlbench/assets/procedural_objects/074/074.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76c6851bf99e0955a678a629ff57a25fa0560f37
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/074/074.urdf b/external/rlbench/rlbench/assets/procedural_objects/074/074.urdf
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..f9e06d65ff330aef40d42088e097e5d6f3671273
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/075/075.mtl b/external/rlbench/rlbench/assets/procedural_objects/075/075.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38aa197dda5efefae962babf66a36bf25b55c940
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/075/075.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 075_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.656507 0.481824 0.072082
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 075.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/075/075.obj b/external/rlbench/rlbench/assets/procedural_objects/075/075.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67ae7c5e67cc856152e31ab6ba1632df2a888e76
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/075/075.obj
@@ -0,0 +1,541 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/075/075.png b/external/rlbench/rlbench/assets/procedural_objects/075/075.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/075/075.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/075/075.urdf b/external/rlbench/rlbench/assets/procedural_objects/075/075.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..629186c265b76700df032bb6fd397a1bc5627e68
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/075/075.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/075/075_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/075/075_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/075/075_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/075/075_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/075/075_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c57cc888d028eda0ae516ee99b285ddf03539c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/075/075_coll.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..530cc5e018e15f1613c08c16d9bb3ff0f1b1189b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/076/076.obj b/external/rlbench/rlbench/assets/procedural_objects/076/076.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b23cba6f9354737292de6696fdda638b8e4354c
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/077/077.mtl b/external/rlbench/rlbench/assets/procedural_objects/077/077.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d110a0fc89b1f1126ea0c38773d2f92372eb718
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/077/077.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 077_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.609266 0.067300 0.428025
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 077.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/077/077.obj b/external/rlbench/rlbench/assets/procedural_objects/077/077.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b446723eb8d221a636f1413046bfa2656f2a2b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/077/077.obj
@@ -0,0 +1,612 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 077.mtl
+o 077_Cube.316
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/077/077.png b/external/rlbench/rlbench/assets/procedural_objects/077/077.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/077/077.urdf b/external/rlbench/rlbench/assets/procedural_objects/077/077.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3aa23e443c351b8caa514fad826fa539aaec0bb
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/077/077_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/077/077_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/077/077_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/077/077_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cde1ce15bdac0f099e152573ee856fc00b92faa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/078/078.mtl b/external/rlbench/rlbench/assets/procedural_objects/078/078.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..89a31872ae788b0a9eab70830d4f48ce7956237b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/078/078.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 078_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 078.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/078/078.obj b/external/rlbench/rlbench/assets/procedural_objects/078/078.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faef5fe138341fb13d379c935b4056f65d75ad70
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/078/078.obj
@@ -0,0 +1,1686 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/078/078_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/078/078_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/078/078_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/external/rlbench/rlbench/assets/procedural_objects/078/078_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/078/078_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef52cb9a656500106c516fb9fe46b0e1467a4a1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/078/078_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/079/079.mtl b/external/rlbench/rlbench/assets/procedural_objects/079/079.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..529bba2a5231f5d4438b0e08459adb4ee4538b6a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/079/079.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 079_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 079.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/079/079.obj b/external/rlbench/rlbench/assets/procedural_objects/079/079.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f71a55cff7c3915db9fd03954841e8bcfaec4a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/079/079.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/079/079.png b/external/rlbench/rlbench/assets/procedural_objects/079/079.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/079/079.urdf b/external/rlbench/rlbench/assets/procedural_objects/079/079.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3c76171773ababd3878b7a6ce80d171c30450a5
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/079/079_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/079/079_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/079/079_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/079/079_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/079/079_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2d2ec97ca8650e63840c8caf3b1c68da59bd7e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/080/080.mtl b/external/rlbench/rlbench/assets/procedural_objects/080/080.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb840bf07fe4dae09890eaeea4ae70e4fb10befc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/080/080.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 080_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 080.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/080/080.obj b/external/rlbench/rlbench/assets/procedural_objects/080/080.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8d05c5bf79f3904b2fc25a0223e8f22ef8bd83
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/080/080.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/080/080.png b/external/rlbench/rlbench/assets/procedural_objects/080/080.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/080/080.urdf b/external/rlbench/rlbench/assets/procedural_objects/080/080.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e5f03b51cfefe2f2bbc7740e41b2fa1fdf1f3a4a
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/080/080_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/080/080_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/080/080_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/080/080_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/080/080_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9acef5bcaaf09db381092965b4fc8f36688309f6
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/081/081.mtl b/external/rlbench/rlbench/assets/procedural_objects/081/081.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11aad16b380a4fc109f5dfd614b6116d51760602
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/081/081.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 081_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 081.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/081/081.obj b/external/rlbench/rlbench/assets/procedural_objects/081/081.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1063c75a7b579cfa06d6942d3afa554122d15e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/081/081.obj
@@ -0,0 +1,1380 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/081/081.png b/external/rlbench/rlbench/assets/procedural_objects/081/081.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/081/081.urdf b/external/rlbench/rlbench/assets/procedural_objects/081/081.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f6476632d4f3735ab65300f23caaa8c1340cc29
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/081/081.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/081/081_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/081/081_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/081/081_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/081/081_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/081/081_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e632dcf266be8b95d9dbc4201e185165fd02735
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/082/082.mtl b/external/rlbench/rlbench/assets/procedural_objects/082/082.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..027d96d4b1b266e385621d67a7cf5706d9b51be1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/082/082.obj b/external/rlbench/rlbench/assets/procedural_objects/082/082.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e1f551d88a24e2e11a297aeb75c077db73876a
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/082/082.png b/external/rlbench/rlbench/assets/procedural_objects/082/082.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/082/082.urdf b/external/rlbench/rlbench/assets/procedural_objects/082/082.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23ce3d7f82c1ab72ce822eaa13a9cd1f48fc29cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/082/082.urdf
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/082/082_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/082/082_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/082/082_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f19bffce64c72444f5f3eb5b58829a7c306b07
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/083/083.mtl b/external/rlbench/rlbench/assets/procedural_objects/083/083.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37da7f780d96131ff5330c720284e3885671fbc9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/083/083.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 083_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 083.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/083/083.obj b/external/rlbench/rlbench/assets/procedural_objects/083/083.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405d8a7f04cfe0a4c0d05bd5eb8dfd26b918bdb9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/083/083.obj
@@ -0,0 +1,7213 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/083/083.urdf b/external/rlbench/rlbench/assets/procedural_objects/083/083.urdf
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/083/083_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/083/083_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/083/083_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/083/083_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6feea8a365404f4cb616bb489543bee532cb65b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/084/084.mtl b/external/rlbench/rlbench/assets/procedural_objects/084/084.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f8d6ec881b033c99a18b9b294626a7632aa2b3e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/084/084.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 084_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 084.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/084/084.obj b/external/rlbench/rlbench/assets/procedural_objects/084/084.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d46a026407913613279039208d0d19243dd4f6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/084/084.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/084/084.png b/external/rlbench/rlbench/assets/procedural_objects/084/084.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/084/084.urdf b/external/rlbench/rlbench/assets/procedural_objects/084/084.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b25bdf15a394a273dcd4fba6dd2e26985e259c0
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/084/084_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/084/084_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/084/084_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/084/084_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/084/084_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b58d67e6d9b6af27397c541bacfa0cb37331a43d
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..1c0f8f7f7c79393a3a61bdc1a31dac00ceaa1371
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/085/085.obj b/external/rlbench/rlbench/assets/procedural_objects/085/085.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2820c3f86912ff15800bd7792dee763ce103bf1
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/085/085.urdf b/external/rlbench/rlbench/assets/procedural_objects/085/085.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a838a84e233a0d206550a0e3956b911b4a7703f4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/085/085.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/085/085_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/085/085_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/085/085_coll.mtl
@@ -0,0 +1,10 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/085/085_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/085/085_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ecec9314b856126c17a2f86408c21784d6ae07
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/086/086.mtl b/external/rlbench/rlbench/assets/procedural_objects/086/086.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d50217c65e4294250dd78a534d4ad434826a3e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/086/086.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 086_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 086.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/086/086.obj b/external/rlbench/rlbench/assets/procedural_objects/086/086.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c882477b8e79bb324781ff5cefc7d249b0d4e1eb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/086/086.obj
@@ -0,0 +1,44 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/086/086.png b/external/rlbench/rlbench/assets/procedural_objects/086/086.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/086/086.urdf b/external/rlbench/rlbench/assets/procedural_objects/086/086.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5a260b095cfb95abe9800423c3f6792803474b2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/086/086.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/086/086_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/086/086_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/086/086_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/086/086_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/086/086_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f168b7e5e991d2835a16580e8fc986f6a581b025
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/086/086_coll.obj
@@ -0,0 +1,147 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/087/087.mtl b/external/rlbench/rlbench/assets/procedural_objects/087/087.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd59613aa48751bb1d35e8f74178df9e91bfb4bb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/087/087.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/087/087.obj b/external/rlbench/rlbench/assets/procedural_objects/087/087.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f522fa2425a5f1d893bd28cb5dbaed626134404
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/087/087.png b/external/rlbench/rlbench/assets/procedural_objects/087/087.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/087/087.urdf b/external/rlbench/rlbench/assets/procedural_objects/087/087.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96d6adedf7ba5135c5b0f84f7d536a456635da90
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/087/087.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/087/087_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/087/087_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/087/087_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/087/087_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/087/087_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4d330ea9601dba9dcd6ba66994cd310fd59f0a7
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/088/088.mtl b/external/rlbench/rlbench/assets/procedural_objects/088/088.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..25d07936ba48aab00758aa3df65137bf1d53acb0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/088/088.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 088_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 088.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/088/088.obj b/external/rlbench/rlbench/assets/procedural_objects/088/088.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d446fb0855eaf90ce1420cf0ff728a14652925
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/088/088.obj
@@ -0,0 +1,5498 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/088/088.png b/external/rlbench/rlbench/assets/procedural_objects/088/088.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/088/088.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/088/088.urdf b/external/rlbench/rlbench/assets/procedural_objects/088/088.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..025e113a7e215c8d4526ed83f04aa8980f02fa20
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/088/088.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/088/088_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/088/088_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/088/088_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/088/088_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/088/088_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5784557de3e61723e612df449e4b61e8da100c7b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/088/088_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/089/089.mtl b/external/rlbench/rlbench/assets/procedural_objects/089/089.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..74733b558065a5035d18a11fe4bf8ec5fa25f779
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/089/089.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 089_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.242786 0.044601 0.455279
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 089.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/089/089.obj b/external/rlbench/rlbench/assets/procedural_objects/089/089.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83e1e7c827ac9657d21609eedb35564501f6475
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/089/089.obj
@@ -0,0 +1,569 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/090/090.mtl b/external/rlbench/rlbench/assets/procedural_objects/090/090.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b47a092bd6dabc427e5470130cac37d81a00f95
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/090/090.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 090_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.061241 0.148405 0.292322
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 090.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/090/090.obj b/external/rlbench/rlbench/assets/procedural_objects/090/090.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b01fa579a0fcd16d809b1dec4833229c42d7897b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/090/090.obj
@@ -0,0 +1,614 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/090/090.png b/external/rlbench/rlbench/assets/procedural_objects/090/090.png
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/090/090.urdf b/external/rlbench/rlbench/assets/procedural_objects/090/090.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e4bc85c3f1de67c9e693241031ef1f3494ed041
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/090/090_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/090/090_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/090/090_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/090/090_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083873d44c8ddcd4835e0f40fcc0ea94f6b011e3
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/091/091.mtl b/external/rlbench/rlbench/assets/procedural_objects/091/091.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e235db6cacf4ca897e1aec7b46da2dbe40242b88
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/091/091.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 091_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.059937 0.428513 0.379201
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 091.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/091/091.obj b/external/rlbench/rlbench/assets/procedural_objects/091/091.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c375549cb3584b6772fbb4b71ca950cec98c6b3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/091/091.obj
@@ -0,0 +1,5104 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 091.mtl
+o 091_Cube.377
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/091/091.png b/external/rlbench/rlbench/assets/procedural_objects/091/091.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/091/091.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/091/091.urdf b/external/rlbench/rlbench/assets/procedural_objects/091/091.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0551da1dcfabcdae2d6bbd1cbec0d02fd9b5df35
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/091/091.urdf
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/091/091_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/091/091_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/091/091_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/091/091_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/091/091_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98513ec37cddbdb61b620802e8483e70018c6654
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/092/092.mtl b/external/rlbench/rlbench/assets/procedural_objects/092/092.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0786b4c37075f2e0f0766f4af6a279e7aa78ef1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/092/092.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 092_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.065519 0.357342 0.282623
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 092.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/092/092.obj b/external/rlbench/rlbench/assets/procedural_objects/092/092.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3e2fbdf3fe8830e5ec13c062d08f544edc801c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/092/092.obj
@@ -0,0 +1,5375 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 092.mtl
+o 092_Cube.382
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/092/092_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/092/092_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/092/092_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/092/092_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9339a56bfa7500038a571a6493d6c6cd8c94ba7d
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/093/093.mtl b/external/rlbench/rlbench/assets/procedural_objects/093/093.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c05e56e0ca37b89ec4f19036e8b7e1f93ed9ac2d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/093/093.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 093_mtl
+Ns 96.078431
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/094/094.mtl b/external/rlbench/rlbench/assets/procedural_objects/094/094.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a403f5fdacf86dd21d86146dffea533c9fd502b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/094/094.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 094_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.372456 0.175363 0.045914
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 094.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/094/094.obj b/external/rlbench/rlbench/assets/procedural_objects/094/094.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab508cbce99826eacbff89afd37e4e17d0369d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/094/094.obj
@@ -0,0 +1,4859 @@
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+# www.blender.org
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/095/095.mtl b/external/rlbench/rlbench/assets/procedural_objects/095/095.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0581eece9f64a32b2b51359ba5c5ce0e4bc0547e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/095/095.obj b/external/rlbench/rlbench/assets/procedural_objects/095/095.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b428ef9056a5a7a9f4fb1d161c9447aa93c417f8
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/095/095.urdf b/external/rlbench/rlbench/assets/procedural_objects/095/095.urdf
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/095/095_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/095/095_coll.mtl
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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index 0000000000000000000000000000000000000000..76435fb037acda5b7d75c4d3c01c363097d602c2
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/096/096.mtl b/external/rlbench/rlbench/assets/procedural_objects/096/096.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..727feb67b11459ee1ac651748a59e9c427bfa222
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/096/096.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 096_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.073602 0.279473 0.079955
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 096.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/096/096.obj b/external/rlbench/rlbench/assets/procedural_objects/096/096.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c571619ac189aa5485307d93ec4617bc0ba756
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/096/096.obj
@@ -0,0 +1,1617 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/096/096.png b/external/rlbench/rlbench/assets/procedural_objects/096/096.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/096/096.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/096/096.urdf b/external/rlbench/rlbench/assets/procedural_objects/096/096.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8c72e11721b814b285f9d4688313bb2479c76077
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/096/096.urdf
@@ -0,0 +1,32 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/096/096_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/096/096_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/096/096_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/external/rlbench/rlbench/assets/procedural_objects/096/096_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/096/096_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d263891167568217e839af28d20506ef711fb12b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/096/096_coll.obj
@@ -0,0 +1,522 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/097/097.obj b/external/rlbench/rlbench/assets/procedural_objects/097/097.obj
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index 0000000000000000000000000000000000000000..4e1b03a2acf320ef719fd46c62897b09b223006e
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new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/097/097_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/097/097_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b204a8c0e265e10203f013bf4d9af6897393c534
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/098/098.mtl b/external/rlbench/rlbench/assets/procedural_objects/098/098.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47df3f634f43a0747936e688baf6b36c211ea7a6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/098/098.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/098/098.obj b/external/rlbench/rlbench/assets/procedural_objects/098/098.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f468a2d52f52459613bc70c60f6175cfcbf540ef
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/098/098.obj
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/098/098_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/098/098_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/098/098_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/098/098_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7b53a760aac433e016b3b88243e0ea8d3a79b1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/099/099.mtl b/external/rlbench/rlbench/assets/procedural_objects/099/099.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..152291e7f548987afa3ccebbfd6660b3e6ee891b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/099/099.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/099/099.obj b/external/rlbench/rlbench/assets/procedural_objects/099/099.obj
new file mode 100644
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/100/100.mtl b/external/rlbench/rlbench/assets/procedural_objects/100/100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7deb3149b6fa435a3b4509363b7fb0b47378e76
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/100/100.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 100_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.023981 0.618443 0.658252
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 100.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/100/100.obj b/external/rlbench/rlbench/assets/procedural_objects/100/100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a396a4cab822030c196968b2a7b94ed23c1cf747
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/100/100.obj
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+# www.blender.org
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index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/101/101.mtl b/external/rlbench/rlbench/assets/procedural_objects/101/101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f88845392dcfecb01bebe0c50f88f756087e8f6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/101/101.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 101_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.185488 0.539176 0.516667
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 101.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/101/101.obj b/external/rlbench/rlbench/assets/procedural_objects/101/101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7eb4baeab237a95ac48eeebdc29171ebd99a1d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/101/101.obj
@@ -0,0 +1,4738 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/101/101.png b/external/rlbench/rlbench/assets/procedural_objects/101/101.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/101/101.urdf b/external/rlbench/rlbench/assets/procedural_objects/101/101.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df3326334ef93a0f2dc8eae88bd2e1dd4a27f876
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/101/101_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/101/101_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/101/101_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/101/101_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/101/101_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26bdfa01d88d2f1a5e56878db6c5682ea958b9ca
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/102/102.mtl b/external/rlbench/rlbench/assets/procedural_objects/102/102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f684790fc39a8f03d11c7f189619e40675eadabe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/102/102.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/102/102.obj b/external/rlbench/rlbench/assets/procedural_objects/102/102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1926821801bb5ca2f41f1a781ae306cedaa03ff
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/102/102.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/102/102.png b/external/rlbench/rlbench/assets/procedural_objects/102/102.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/102/102.urdf b/external/rlbench/rlbench/assets/procedural_objects/102/102.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a7f0ae81edbacd76c9db486e32b30dc857f2609b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/102/102_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/102/102_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/102/102_coll.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/102/102_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/102/102_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371ef450d5c092e553b758fa98b73750356d3126
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