diff --git a/external/rlbench/rlbench/assets/procedural_objects/426/426_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/426/426_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/426/426_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/426/426_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/426/426_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd16572daf333e670ccc62a94121c6b3e2c11a9a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/426/426_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/427/427.mtl b/external/rlbench/rlbench/assets/procedural_objects/427/427.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d1568fdf29753f1663cdc69338914c21711261
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/427/427.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 427_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.296451 0.219009 0.086234
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 427.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/427/427.obj b/external/rlbench/rlbench/assets/procedural_objects/427/427.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d4b9f3c7068fa2106eb23835c2e469844b48f6f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/427/427.obj
@@ -0,0 +1,2003 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/427/427.png b/external/rlbench/rlbench/assets/procedural_objects/427/427.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/427/427.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/427/427.urdf b/external/rlbench/rlbench/assets/procedural_objects/427/427.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6175ffbcd31d248cdd508f00d9eb15f977ad903
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/427/427.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob427">
+  <link name="random_obj_427">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1087"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="427.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.10 0.77 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="427_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/427/427_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/427/427_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/427/427_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/427/427_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/427/427_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..528e652758ec71c4dce7e58c14ce4c087e56fade
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/427/427_coll.obj
@@ -0,0 +1,1227 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/428/428.mtl b/external/rlbench/rlbench/assets/procedural_objects/428/428.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1eb181085830fa8e3893a3c63201e56f930de7c3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/428/428.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 428_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.010523 0.572496 0.580094
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 428.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/428/428.obj b/external/rlbench/rlbench/assets/procedural_objects/428/428.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d981615ab173251a18fe71e11e74cdd2ee388940
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/428/428.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/428/428.png b/external/rlbench/rlbench/assets/procedural_objects/428/428.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/428/428.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/428/428.urdf b/external/rlbench/rlbench/assets/procedural_objects/428/428.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59ff90c9358971e57368ce90beb5770d06a46b8f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/428/428.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob428">
+  <link name="random_obj_428">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1150"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="428.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.12 0.16 0.38 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="428_coll.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/428/428_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/428/428_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/428/428_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/428/428_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/428/428_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9df099d869bfa58bc7e9939fc605e57b7a395bb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/428/428_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/429/429.mtl b/external/rlbench/rlbench/assets/procedural_objects/429/429.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..812986fe327abb363ddd47869618fc43113b3745
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/429/429.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 429_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.719311 0.517149 0.343077
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 429.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/429/429.obj b/external/rlbench/rlbench/assets/procedural_objects/429/429.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cc19737525a64f29f59f0322c237d177a7b74a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/429/429.obj
@@ -0,0 +1,5396 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/429/429.png b/external/rlbench/rlbench/assets/procedural_objects/429/429.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/429/429.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/429/429.urdf b/external/rlbench/rlbench/assets/procedural_objects/429/429.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99daa3c95aa0effff76df467618d4bd6308adea5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/429/429.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob429">
+  <link name="random_obj_429">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1277"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="429.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.83 0.44 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="429_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/429/429_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/429/429_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/429/429_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/429/429_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/429/429_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8853c8cb3244bb72e0fc20513e6c778901d30a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/429/429_coll.obj
@@ -0,0 +1,840 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/430/430.mtl b/external/rlbench/rlbench/assets/procedural_objects/430/430.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..777f3a5aa118df030cc00f7b36e27ae202e5c971
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/430/430.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 430_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.348493 0.029602 0.411821
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 430.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/430/430.obj b/external/rlbench/rlbench/assets/procedural_objects/430/430.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edff7df602403453b74b5819a590cd259ce6bc0d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/430/430.obj
@@ -0,0 +1,4518 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/430/430.png b/external/rlbench/rlbench/assets/procedural_objects/430/430.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/430/430.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/430/430.urdf b/external/rlbench/rlbench/assets/procedural_objects/430/430.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5bd2814b7ec980d87b1606fcdf2bff00416d0f9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/430/430.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob430">
+  <link name="random_obj_430">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0822"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="430.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.54 0.49 0.31 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="430_coll.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/430/430_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/430/430_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/430/430_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/430/430_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/430/430_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fdf0d4a7c5e89767c34894e6a18505776f47592
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/430/430_coll.obj
@@ -0,0 +1,960 @@
+o convex_0
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+o convex_1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/431/431.mtl b/external/rlbench/rlbench/assets/procedural_objects/431/431.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6cbec1e6d41543a4e655aa4c42c81def8d3d63ff
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/431/431.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 431_mtl
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+map_Kd 431.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/431/431.obj b/external/rlbench/rlbench/assets/procedural_objects/431/431.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5e6ff588ae777e0e9435e447644f3ebcd6db7a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/431/431.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/431/431.png b/external/rlbench/rlbench/assets/procedural_objects/431/431.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/431/431.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/431/431.urdf b/external/rlbench/rlbench/assets/procedural_objects/431/431.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..639ab05be89c78b19fa10edaa248f7e8cd139d06
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/431/431.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob431">
+  <link name="random_obj_431">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0426"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="431.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.69 0.36 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="431_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/431/431_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/431/431_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/431/431_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/431/431_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/431/431_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bc4bd1959143b6987720c79a0437631a3d3993
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/431/431_coll.obj
@@ -0,0 +1,1872 @@
+o convex_0
+v -3.671022 -7.171712 -6.421446
+v -1.256879 -3.073677 -5.972140
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+v -3.951918 -7.676992 -6.028526
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/432/432.mtl b/external/rlbench/rlbench/assets/procedural_objects/432/432.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd80d6f8ee921deba85dab96a36c6614025cc9c3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/432/432.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 432_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.458137 0.483567 0.120317
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 432.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/432/432.obj b/external/rlbench/rlbench/assets/procedural_objects/432/432.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c8e71e4482c34bbf2349f68c590fa272b5eae3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/432/432.obj
@@ -0,0 +1,4981 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/432/432.png b/external/rlbench/rlbench/assets/procedural_objects/432/432.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/432/432.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/432/432.urdf b/external/rlbench/rlbench/assets/procedural_objects/432/432.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b569c8a73866bd194fc8b3dce56a0eca9541e32
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/432/432.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob432">
+  <link name="random_obj_432">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1642"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="432.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.94 0.96 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="432_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/432/432_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/432/432_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/432/432_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/432/432_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/432/432_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87fa2ce43d35b260c4624e640ceafd65af6640ca
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/432/432_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/433/433.mtl b/external/rlbench/rlbench/assets/procedural_objects/433/433.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b22d660e3c128b5c9f18f08b95ad3a64a7d2cbd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/433/433.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 433_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 433.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/433/433.obj b/external/rlbench/rlbench/assets/procedural_objects/433/433.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75abb3413945ab919537aaac9bb3a9b71595809a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/433/433.obj
@@ -0,0 +1,7164 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/433/433.png b/external/rlbench/rlbench/assets/procedural_objects/433/433.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/433/433.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/433/433.urdf b/external/rlbench/rlbench/assets/procedural_objects/433/433.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..397ddf19867d2b6f48939c7ada7a14cd0c3b6f1b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/433/433.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob433">
+  <link name="random_obj_433">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0926"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="433.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.94 0.67 0.81 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="433_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/433/433_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/433/433_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/433/433_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/433/433_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/433/433_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..987bd24d7d13bbd291642b25059f91e9e43a1785
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/433/433_coll.obj
@@ -0,0 +1,957 @@
+o convex_0
+v 3.433927 8.336876 5.585388
+v 1.080411 3.944794 -1.789062
+v 1.080411 5.042815 -1.789062
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/434/434.mtl b/external/rlbench/rlbench/assets/procedural_objects/434/434.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b5ed93a8f008af4445748cd35deeab25d22568d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/434/434.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 434_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.634363 0.273432 0.088680
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 434.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/434/434.obj b/external/rlbench/rlbench/assets/procedural_objects/434/434.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a6a3beca68c479c378223e46a1f8b5f6e0f9be
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/434/434.obj
@@ -0,0 +1,4953 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/434/434.png b/external/rlbench/rlbench/assets/procedural_objects/434/434.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/434/434.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/434/434.urdf b/external/rlbench/rlbench/assets/procedural_objects/434/434.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b81fe17e76e59372438096cddfc2d552a60f1893
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/434/434.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob434">
+  <link name="random_obj_434">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0720"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="434.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.70 0.06 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="434_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/434/434_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/434/434_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/434/434_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/434/434_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/434/434_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d3360f3071b765ef0c0749d6fc488ba3d94704
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/434/434_coll.obj
@@ -0,0 +1,648 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/435/435.mtl b/external/rlbench/rlbench/assets/procedural_objects/435/435.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0939faa3cf2e493b46f9c39d64c75fbf03088493
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/435/435.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 435_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 435.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/435/435.obj b/external/rlbench/rlbench/assets/procedural_objects/435/435.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447792ef94f2500f1ffc0685444c2241b8323137
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/435/435.obj
@@ -0,0 +1,2427 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/435/435.png b/external/rlbench/rlbench/assets/procedural_objects/435/435.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/435/435.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/435/435.urdf b/external/rlbench/rlbench/assets/procedural_objects/435/435.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5d57286bc11df86ab4c0ee6514a90beac5f65f6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/435/435.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob435">
+  <link name="random_obj_435">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0851"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="435.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.39 0.22 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="435_coll.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/435/435_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/435/435_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/435/435_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/435/435_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/435/435_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f732ae1858ffbf18e8e44a7101b2b0146bdb0a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/435/435_coll.obj
@@ -0,0 +1,687 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/436/436.mtl b/external/rlbench/rlbench/assets/procedural_objects/436/436.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c1ecfe470463a7088081e1aabde5cbaf96e63c7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/436/436.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 436_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.012975 0.542254 0.037106
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 436.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/436/436.obj b/external/rlbench/rlbench/assets/procedural_objects/436/436.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe78f16999830fd345f17058ef4d1386649e429a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/436/436.obj
@@ -0,0 +1,1432 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 436.mtl
+o 436_Cube.1770
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/436/436.png b/external/rlbench/rlbench/assets/procedural_objects/436/436.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/436/436.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/436/436.urdf b/external/rlbench/rlbench/assets/procedural_objects/436/436.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afcded08c3fd8b9a95c1b259432f1898640e1913
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/436/436.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob436">
+  <link name="random_obj_436">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0930"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="436.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.37 0.35 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="436_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/436/436_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/436/436_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/436/436_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/436/436_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/436/436_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e07b5a1d5ba4d7ebd052bd5abfe16d634f28a7f2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/436/436_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/437/437.mtl b/external/rlbench/rlbench/assets/procedural_objects/437/437.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1485a3211e003e36ee988a6fe4e89650c8d6d9e5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/437/437.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 437_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.544439 0.191453 0.035983
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 437.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/437/437.obj b/external/rlbench/rlbench/assets/procedural_objects/437/437.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1929c09703360c48d4a5940d7f7a7ad8442d85
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/437/437.obj
@@ -0,0 +1,147 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 437.mtl
+o 437_Cube.1773
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/437/437.png b/external/rlbench/rlbench/assets/procedural_objects/437/437.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/437/437.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/437/437.urdf b/external/rlbench/rlbench/assets/procedural_objects/437/437.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5d93f041c86b2851f0c0e4a576b6db702d1b44b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/437/437.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob437">
+  <link name="random_obj_437">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0877"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="437.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.42 0.20 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="437_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/437/437_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/437/437_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/437/437_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/437/437_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/437/437_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d8d2b38f65015f6b5de8595dd3186e9d12804e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/437/437_coll.obj
@@ -0,0 +1,189 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/438/438.mtl b/external/rlbench/rlbench/assets/procedural_objects/438/438.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8ab86e8e6a7334dc9f15f1c2d23a43c40d40724
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/438/438.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 438_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
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+illum 2
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/438/438.obj b/external/rlbench/rlbench/assets/procedural_objects/438/438.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5271507fcfdbc45cd06f0f0e1b12e8e725ee94cc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/438/438.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/438/438.png b/external/rlbench/rlbench/assets/procedural_objects/438/438.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/438/438.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/438/438.urdf b/external/rlbench/rlbench/assets/procedural_objects/438/438.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dbdd605adcebf700da6b31e435ee126364ca6dc3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/438/438.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob438">
+  <link name="random_obj_438">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1194"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="438.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.42 0.79 1.00 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="438_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/438/438_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/438/438_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/438/438_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/438/438_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/438/438_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7784006ca3d9ccbd61eb71c99dfc9da6af6ca75
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/438/438_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/439/439.mtl b/external/rlbench/rlbench/assets/procedural_objects/439/439.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e8819c58f7961f63f1d54b0a9f8b54b2ada1da7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/439/439.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 439_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 439.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/439/439.obj b/external/rlbench/rlbench/assets/procedural_objects/439/439.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e33e359250afc91cd60d20318524f22ed0dca1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/439/439.obj
@@ -0,0 +1,310 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/439/439.png b/external/rlbench/rlbench/assets/procedural_objects/439/439.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/439/439.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/439/439.urdf b/external/rlbench/rlbench/assets/procedural_objects/439/439.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33d3e0bc0815ad9c5ec5d84d05d120436d0eee23
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/439/439.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob439">
+  <link name="random_obj_439">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1282"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="439.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.38 0.69 0.11 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="439_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/439/439_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/439/439_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/439/439_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/439/439_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/439/439_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59c22a29401b58a0164f69bcf49fb006c806139
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/439/439_coll.obj
@@ -0,0 +1,414 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/440/440.mtl b/external/rlbench/rlbench/assets/procedural_objects/440/440.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42f229171340996319865fe68b8707c21e2af773
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/440/440.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 440_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.083048 0.198580 0.245631
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 440.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/440/440.obj b/external/rlbench/rlbench/assets/procedural_objects/440/440.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e40c33fbcdc1198964460f573907b26b84c5895e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/440/440.obj
@@ -0,0 +1,496 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 440.mtl
+o 440_Cube.1783
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/440/440.png b/external/rlbench/rlbench/assets/procedural_objects/440/440.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/440/440.urdf b/external/rlbench/rlbench/assets/procedural_objects/440/440.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a19735770495da99f4665a0357764f3915b131d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/440/440.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob440">
+  <link name="random_obj_440">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1127"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="440.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.94 0.67 0.30 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="440_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/440/440_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/440/440_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/440/440_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
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/440/440_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/440/440_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35118fac2ea028f5e515c7638cc24a6d51e47d9d
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/441/441.mtl b/external/rlbench/rlbench/assets/procedural_objects/441/441.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8f356281009c4c9917200b801bf688d623e7f9b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/441/441.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 441_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.054245 0.128949 0.230218
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 441.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/441/441.obj b/external/rlbench/rlbench/assets/procedural_objects/441/441.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e201286664ff7a8669298a96be7e98959c7b36
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/441/441.obj
@@ -0,0 +1,430 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 441.mtl
+o 441_Cube.1786
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/441/441.png b/external/rlbench/rlbench/assets/procedural_objects/441/441.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/441/441.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/441/441.urdf b/external/rlbench/rlbench/assets/procedural_objects/441/441.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..42da048943e3608cb139883420e1aba7dd1f98db
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/441/441.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob441">
+  <link name="random_obj_441">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0917"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="441.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.77 0.32 0.54 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="441_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/441/441_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/441/441_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/441/441_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/441/441_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/441/441_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8352169f1b6049ada61e47db8127e4365de513a4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/441/441_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/442/442.mtl b/external/rlbench/rlbench/assets/procedural_objects/442/442.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e81c6afccd7f2f8f17728d7423f8bc1a0c7e1d8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/442/442.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 442_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.403771 0.166106 0.140812
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 442.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/442/442.obj b/external/rlbench/rlbench/assets/procedural_objects/442/442.obj
new file mode 100644
index 0000000000000000000000000000000000000000..422d8e6f91abb589f58391545dbff3a67ce8599a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/442/442.obj
@@ -0,0 +1,497 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 442.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/442/442.png b/external/rlbench/rlbench/assets/procedural_objects/442/442.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/442/442.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/442/442.urdf b/external/rlbench/rlbench/assets/procedural_objects/442/442.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55d022052a2308b10c964f880dae472c47af96a5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/442/442.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob442">
+  <link name="random_obj_442">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1093"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="442.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.02 0.04 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="442_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/442/442_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/442/442_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/442/442_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/442/442_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/442/442_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e98d95b9257e64443cbed0e7700eae9965a20a1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/442/442_coll.obj
@@ -0,0 +1,684 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/443/443.mtl b/external/rlbench/rlbench/assets/procedural_objects/443/443.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ff6a36ea7dfa908e9c1c6b48dd05263a6c9bca8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/443/443.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 443_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 443.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/443/443.obj b/external/rlbench/rlbench/assets/procedural_objects/443/443.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de771f62c2318b32b68251fbddec09933b8b4d4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/443/443.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/443/443.png b/external/rlbench/rlbench/assets/procedural_objects/443/443.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/443/443.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/443/443.urdf b/external/rlbench/rlbench/assets/procedural_objects/443/443.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e940266cc4477362b405d3675cc880201d7b13d7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/443/443.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob443">
+  <link name="random_obj_443">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0733"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="443.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.41 0.90 0.22 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="443_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/443/443_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/443/443_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/443/443_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/443/443_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/443/443_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1d0d9b3c116480f97eb2ef601ac05db3163574
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/444/444.mtl b/external/rlbench/rlbench/assets/procedural_objects/444/444.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c890c787039c58dec2d494618f6ad3a683485cc2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/444/444.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 444_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.113251 0.342357 0.305742
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 444.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/444/444.obj b/external/rlbench/rlbench/assets/procedural_objects/444/444.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3a918609fed2d86d5184ebcb535088f12ce183
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/444/444.obj
@@ -0,0 +1,4767 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/444/444.png b/external/rlbench/rlbench/assets/procedural_objects/444/444.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/444/444.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/444/444.urdf b/external/rlbench/rlbench/assets/procedural_objects/444/444.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..588bae83dd91fcb251c85b544307b27a4cbc5149
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/444/444.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob444">
+  <link name="random_obj_444">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1091"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="444.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.31 0.82 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="444_coll.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/444/444_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/444/444_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/444/444_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/444/444_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/444/444_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..645715f3a01e0c731db44fd5a06361fb0e69a351
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/444/444_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/445/445.mtl b/external/rlbench/rlbench/assets/procedural_objects/445/445.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ceea2dd7e97e40dfb084441e767cb25cb0d5ceb7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/445/445.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 445_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.297745 0.014513 0.056295
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 445.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/445/445.obj b/external/rlbench/rlbench/assets/procedural_objects/445/445.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d1a03866d726a342f60c17dd8729434a880339
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/445/445.obj
@@ -0,0 +1,5330 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/445/445.png b/external/rlbench/rlbench/assets/procedural_objects/445/445.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/445/445.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/445/445.urdf b/external/rlbench/rlbench/assets/procedural_objects/445/445.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cdc5f81dd89a190d9019f34784df27fd4529ec97
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/445/445.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob445">
+  <link name="random_obj_445">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1053"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="445.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.71 0.72 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="445_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/445/445_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/445/445_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/445/445_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/445/445_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/445/445_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690f47a57d439cb1014c69cecb7537c60c66d171
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/445/445_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/446/446.mtl b/external/rlbench/rlbench/assets/procedural_objects/446/446.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..942c40f2afc570ad49ce5122954697ad3721c812
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/446/446.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 446_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.302444 0.128154 0.541429
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 446.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/446/446.obj b/external/rlbench/rlbench/assets/procedural_objects/446/446.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8bbd45f0b091ec9aa3deb442c6981ba8e147f5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/446/446.obj
@@ -0,0 +1,171 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 446.mtl
+o 446_Cube.1807
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/446/446.png b/external/rlbench/rlbench/assets/procedural_objects/446/446.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/446/446.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/446/446.urdf b/external/rlbench/rlbench/assets/procedural_objects/446/446.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a270106d7cce2ac97c58366591dbd344049a579
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/446/446.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob446">
+  <link name="random_obj_446">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1368"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="446.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.29 0.70 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="446_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/446/446_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/446/446_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/446/446_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/446/446_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/446/446_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7a7663804f8aea814931a461d59e1c5cbb5861
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/446/446_coll.obj
@@ -0,0 +1,357 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/447/447.mtl b/external/rlbench/rlbench/assets/procedural_objects/447/447.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..932b3150fd85ee628cffc87c823136205bf02c50
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/447/447.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 447_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.656008 0.115100 0.530201
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 447.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/447/447.obj b/external/rlbench/rlbench/assets/procedural_objects/447/447.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935b4ddbc856ba7d5a7f7a193ac8dc00451d7f99
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/447/447.obj
@@ -0,0 +1,6873 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 447.mtl
+o 447_Cube.1812
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/447/447.png b/external/rlbench/rlbench/assets/procedural_objects/447/447.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/447/447.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/447/447.urdf b/external/rlbench/rlbench/assets/procedural_objects/447/447.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb3f5cb3114c4f6aba7ff12a2a3f5358019c5f68
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/447/447.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob447">
+  <link name="random_obj_447">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1403"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="447.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.49 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="447_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/447/447_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/447/447_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/447/447_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/447/447_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/447/447_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc9d76d9ec8b99dbd4847195cef11fbb540c58e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/447/447_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/448/448.mtl b/external/rlbench/rlbench/assets/procedural_objects/448/448.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e19d688e0543e193bb98269900ddcfefe5560ad9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/448/448.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 448_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.283710 0.684642 0.203228
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 448.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/448/448.obj b/external/rlbench/rlbench/assets/procedural_objects/448/448.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d5e8d3071ac190728051f006bebe7e4ed6192c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/448/448.obj
@@ -0,0 +1,5151 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 448.mtl
+o 448_Cube.1817
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/448/448.png b/external/rlbench/rlbench/assets/procedural_objects/448/448.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/448/448.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/448/448.urdf b/external/rlbench/rlbench/assets/procedural_objects/448/448.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07f758b6cf62a9d2a6561804ec5cd2215ad02ed2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/448/448.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob448">
+  <link name="random_obj_448">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1205"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="448.obj" scale="0.0101 0.0101 0.0101"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.69 0.18 0.70 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="448_coll.obj" scale="0.0101 0.0101 0.0101"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/448/448_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/448/448_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/448/448_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/448/448_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/448/448_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd16b282ed60448d5f87fd5a37429d7faa678f1d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/448/448_coll.obj
@@ -0,0 +1,444 @@
+o convex_0
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+v -0.254627 -3.930991 -0.200207
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/449/449.mtl b/external/rlbench/rlbench/assets/procedural_objects/449/449.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e5660c9cc224fb1f271b3cea8c9d74bcb89db99
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/449/449.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 449_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.216301 0.043286 0.046206
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 449.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/449/449.obj b/external/rlbench/rlbench/assets/procedural_objects/449/449.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a23456dcc94eeb41366bedaa1fc96695653cb2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/449/449.obj
@@ -0,0 +1,168 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 449.mtl
+o 449_Cube.1820
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+usemtl 449_mtl
+s off
+f 1/1 2/2 3/3 4/4
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/449/449.png b/external/rlbench/rlbench/assets/procedural_objects/449/449.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/449/449.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/449/449.urdf b/external/rlbench/rlbench/assets/procedural_objects/449/449.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd37ebda8212f236f149d367e5549253194d7295
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/449/449.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob449">
+  <link name="random_obj_449">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1157"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="449.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.83 0.37 0.10 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="449_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/449/449_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/449/449_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/449/449_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
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/449/449_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/449/449_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a85181d7f5252590805a5790fc6a21cd84b538b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/450/450.mtl b/external/rlbench/rlbench/assets/procedural_objects/450/450.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..745e338c7f7d2fe09c4002061ac7cb79ac862a92
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/450/450.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 450_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/450/450.obj b/external/rlbench/rlbench/assets/procedural_objects/450/450.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea160647c285a959beec49ab23b0f3d5c7ee0ba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/450/450.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/450/450.png b/external/rlbench/rlbench/assets/procedural_objects/450/450.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/450/450.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/450/450.urdf b/external/rlbench/rlbench/assets/procedural_objects/450/450.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0a175f2c682e5e3b0bb9fdf4a9c8ed0df4b6ae93
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/450/450.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob450">
+  <link name="random_obj_450">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1203"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="450.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.98 0.77 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="450_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/450/450_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/450/450_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/450/450_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/450/450_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/450/450_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fff0312f2bcecfd0ad7d92fc0ac8c457a3b75c0d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/450/450_coll.obj
@@ -0,0 +1,1047 @@
+o convex_0
+v -9.015266 10.575811 -1.764792
+v -2.489146 5.936991 0.121586
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/451/451.mtl b/external/rlbench/rlbench/assets/procedural_objects/451/451.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29bb9a17e1bdbf403881e97bbf80115c7c8e2ee3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/451/451.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 451_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.021205 0.751298 0.461002
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 451.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/451/451.obj b/external/rlbench/rlbench/assets/procedural_objects/451/451.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e57c1f6b2bc05acd301a293cc0b68e1c606e32
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/451/451.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/451/451.png b/external/rlbench/rlbench/assets/procedural_objects/451/451.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/451/451.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/451/451.urdf b/external/rlbench/rlbench/assets/procedural_objects/451/451.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d01c71bf0ec72f8a5b5da045f148f671882b6bb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/451/451.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob451">
+  <link name="random_obj_451">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0727"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="451.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.22 0.47 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="451_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/451/451_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/451/451_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/451/451_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/451/451_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/451/451_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d12a9c2a58c19ffa4f7a44672a4e23ba5328d1e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/451/451_coll.obj
@@ -0,0 +1,348 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/452/452.mtl b/external/rlbench/rlbench/assets/procedural_objects/452/452.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..398da0542cb3d750299ce63009a475782857f808
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/452/452.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 452_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.485130 0.165597 0.071342
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 452.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/452/452.obj b/external/rlbench/rlbench/assets/procedural_objects/452/452.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc871bcf56b8bdcdcdb70388c106d794848c6fa2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/452/452.obj
@@ -0,0 +1,146 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 452.mtl
+o 452_Cube.1831
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/452/452.png b/external/rlbench/rlbench/assets/procedural_objects/452/452.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/452/452.urdf b/external/rlbench/rlbench/assets/procedural_objects/452/452.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62e1f51cbed284fe601ce989c60040de3e05c82f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/452/452.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob452">
+  <link name="random_obj_452">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1023"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="452.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.75 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="452_coll.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/452/452_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/452/452_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/452/452_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/452/452_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/452/452_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9805d21f9feeaa70cd79e228a173daaf406588a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/452/452_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/453/453.mtl b/external/rlbench/rlbench/assets/procedural_objects/453/453.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..32ac24268e9c7e6700cb0762fa3698e5b4d04e64
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/453/453.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/453/453.obj b/external/rlbench/rlbench/assets/procedural_objects/453/453.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9e954b9d71c451dd0ff1800e2b400f11ce3c4a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/453/453.obj
@@ -0,0 +1,4953 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/453/453.png b/external/rlbench/rlbench/assets/procedural_objects/453/453.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/453/453.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/453/453.urdf b/external/rlbench/rlbench/assets/procedural_objects/453/453.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eaa7fd9604a11f870ddceafb74eeb700cd1e69af
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/453/453.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob453">
+  <link name="random_obj_453">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1172"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="453.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.98 0.39 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="453_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/453/453_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/453/453_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/453/453_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/453/453_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/453/453_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf1e95ce0035b4059b68aed6ea9035b7d9053a6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/453/453_coll.obj
@@ -0,0 +1,903 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/454/454.mtl b/external/rlbench/rlbench/assets/procedural_objects/454/454.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d5b6dbbf7084dfe80dfe595b007231d0f239b8f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/454/454.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 454_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 454.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/454/454.obj b/external/rlbench/rlbench/assets/procedural_objects/454/454.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db9562388ac44a9a49fa370e62e606b4d849f5d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/454/454.obj
@@ -0,0 +1,5814 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/454/454.png b/external/rlbench/rlbench/assets/procedural_objects/454/454.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/454/454.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/454/454.urdf b/external/rlbench/rlbench/assets/procedural_objects/454/454.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e14cf2f386185beb3b0f98e37a5195df5f1c1769
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/454/454.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob454">
+  <link name="random_obj_454">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1091"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="454.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.59 0.46 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="454_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/454/454_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/454/454_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/454/454_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/454/454_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/454/454_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017c4dcdf9dbf7ed69d1592599a4b9200e6bbbf3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/454/454_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/455/455.mtl b/external/rlbench/rlbench/assets/procedural_objects/455/455.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b2152aad8d11f4616e26bf9531b78374f4db9e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/455/455.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 455_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.508709 0.669178 0.278485
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 455.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/455/455.obj b/external/rlbench/rlbench/assets/procedural_objects/455/455.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659e3592abdf3abf4eefd81197e642295a5538ff
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/455/455.obj
@@ -0,0 +1,5237 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/455/455.png b/external/rlbench/rlbench/assets/procedural_objects/455/455.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/455/455.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/455/455.urdf b/external/rlbench/rlbench/assets/procedural_objects/455/455.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d035f6da862f2bdb828738634132fee891af6ff
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/455/455.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob455">
+  <link name="random_obj_455">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0695"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="455.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.95 0.96 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="455_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/455/455_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/455/455_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/455/455_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/455/455_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/455/455_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0216476f421499c11cfc921510d8b49077282d0b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/455/455_coll.obj
@@ -0,0 +1,1182 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/456/456.mtl b/external/rlbench/rlbench/assets/procedural_objects/456/456.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e43bf378f54a55e65607d840f1290888412d11c0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/456/456.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 456_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.328069 0.311619 0.139202
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 456.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/456/456.obj b/external/rlbench/rlbench/assets/procedural_objects/456/456.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96be2482cf0ee60a12c4fdab05d1f09d0912d1e6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/456/456.obj
@@ -0,0 +1,4942 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 456.mtl
+o 456_Cube.1847
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/456/456.png b/external/rlbench/rlbench/assets/procedural_objects/456/456.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/456/456.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/456/456.urdf b/external/rlbench/rlbench/assets/procedural_objects/456/456.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d68746e0a288dece76f467b052edb3e7dc9ccd64
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/456/456.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob456">
+  <link name="random_obj_456">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0797"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="456.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.56 0.26 0.04 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="456_coll.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/456/456_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/456/456_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/456/456_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/456/456_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/456/456_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b2e4dfa6dee9372a08ec8185860c8237d09196
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/456/456_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/457/457.mtl b/external/rlbench/rlbench/assets/procedural_objects/457/457.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..908ba033d5b34102940cb4d9b9e9f9bdbec1c0a1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/457/457.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 457_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.104021 0.210270 0.033238
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 457.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/457/457.obj b/external/rlbench/rlbench/assets/procedural_objects/457/457.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795990c3fbfc6f89ea6c931cb7216d2bedb9c4a1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/457/457.obj
@@ -0,0 +1,44 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 457.mtl
+o 457_Cube.1852
+v -2.316890 -6.190458 -2.646711
+v -2.288263 -6.086349 2.776746
+v -2.368914 5.786512 2.659783
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+vt 0.676989 0.338607
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+vt 0.670989 0.337377
+vt 0.338490 0.338607
+vt 0.346064 0.000000
+vt 0.670989 0.004029
+usemtl 457_mtl
+s off
+f 1/1 2/2 3/3 4/4
+f 5/5 1/6 4/7 8/8
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/457/457.png b/external/rlbench/rlbench/assets/procedural_objects/457/457.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/457/457.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/457/457.urdf b/external/rlbench/rlbench/assets/procedural_objects/457/457.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a95527b730f51f6e034586e45e6dcd0ee2ed23a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/457/457.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob457">
+  <link name="random_obj_457">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1179"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="457.obj" scale="0.0058 0.0058 0.0058"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.80 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="457_coll.obj" scale="0.0058 0.0058 0.0058"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/457/457_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/457/457_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/457/457_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/457/457_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/457/457_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a17d9f558a777f87849f80e1a7b8074fbf4be7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/457/457_coll.obj
@@ -0,0 +1,150 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/458/458.mtl b/external/rlbench/rlbench/assets/procedural_objects/458/458.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..73bc5adad28de5b76f508b7771ad377f35b65834
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/458/458.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 458_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.179420 0.699724 0.543109
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 458.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/458/458.obj b/external/rlbench/rlbench/assets/procedural_objects/458/458.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510620a157a1b732da9421eef584733e189f759f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/458/458.obj
@@ -0,0 +1,7108 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 458.mtl
+o 458_Cube.1855
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/458/458.png b/external/rlbench/rlbench/assets/procedural_objects/458/458.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/458/458.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/458/458.urdf b/external/rlbench/rlbench/assets/procedural_objects/458/458.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..744a125c5917d7a2dbf3220447fc372f0075cf8c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/458/458.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob458">
+  <link name="random_obj_458">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0612"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="458.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.56 0.19 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="458_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/458/458_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/458/458_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/458/458_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/458/458_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/458/458_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3f5bfb37fcfe0f3aea29cfd97784eb2f2da9e3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/458/458_coll.obj
@@ -0,0 +1,891 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/459/459.mtl b/external/rlbench/rlbench/assets/procedural_objects/459/459.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71151f597e3b7368eda677b79c0ae93552582821
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/459/459.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 459_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 459.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/459/459.obj b/external/rlbench/rlbench/assets/procedural_objects/459/459.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2419f56633d241e7963351f9dc0168f2c8581c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/459/459.obj
@@ -0,0 +1,3387 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/459/459.png b/external/rlbench/rlbench/assets/procedural_objects/459/459.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/459/459.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/459/459.urdf b/external/rlbench/rlbench/assets/procedural_objects/459/459.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc08584468e514bd9f025f8b6f4d5cf087a9f841
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/459/459.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob459">
+  <link name="random_obj_459">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0410"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="459.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.56 0.58 0.77 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="459_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/459/459_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/459/459_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/459/459_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/459/459_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/459/459_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d87993b20f1e44e79d0ad39e1dc0ad1e804bf8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/459/459_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/460/460.mtl b/external/rlbench/rlbench/assets/procedural_objects/460/460.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cea4ba2a37881bf2b46d37c75aed16cba070b8c1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/460/460.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 460_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.655439 0.615381 0.020909
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 460.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/460/460.obj b/external/rlbench/rlbench/assets/procedural_objects/460/460.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc6af4544f8f9bca55820656830dc3822e12b61
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/460/460.obj
@@ -0,0 +1,6139 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 460.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/460/460.png b/external/rlbench/rlbench/assets/procedural_objects/460/460.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/460/460.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/460/460.urdf b/external/rlbench/rlbench/assets/procedural_objects/460/460.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8af4c4297d72103b895fcda7e149b6dd2ebc84d9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/460/460.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob460">
+  <link name="random_obj_460">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1194"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="460.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.11 0.28 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="460_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/460/460_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/460/460_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/460/460_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/460/460_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/460/460_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1d9cd21db24f24edcc827f7b8de726e7fe881f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/460/460_coll.obj
@@ -0,0 +1,627 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/461/461.mtl b/external/rlbench/rlbench/assets/procedural_objects/461/461.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..584959af361f262a08cf79fb78d1e5ffb4e3d6e1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/461/461.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 461_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.541187 0.271914 0.740883
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 461.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/461/461.obj b/external/rlbench/rlbench/assets/procedural_objects/461/461.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1261f0539c370e8fbef1de3a01253dd2fb413109
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/461/461.obj
@@ -0,0 +1,5012 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/461/461.png b/external/rlbench/rlbench/assets/procedural_objects/461/461.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/461/461.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/461/461.urdf b/external/rlbench/rlbench/assets/procedural_objects/461/461.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46e85a410465d5cc7f9dd3becc3cfdd3145137b5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/461/461.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob461">
+  <link name="random_obj_461">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0871"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="461.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.82 0.47 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="461_coll.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/461/461_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/461/461_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/461/461_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/461/461_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/461/461_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758c0d28ceb5700ed7f8f87406ef330d87c6bfa1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/461/461_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/462/462.mtl b/external/rlbench/rlbench/assets/procedural_objects/462/462.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9174afe9542ffd7b32fd88729880b94ee93553fa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/462/462.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/462/462.obj b/external/rlbench/rlbench/assets/procedural_objects/462/462.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20106860b36ef9879ff93c9cfe1e0b2e8752ed62
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/462/462.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/462/462.png b/external/rlbench/rlbench/assets/procedural_objects/462/462.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/462/462.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/462/462.urdf b/external/rlbench/rlbench/assets/procedural_objects/462/462.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8707bec8f62bcd6bfd18e65da53ab5e65cc62656
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/462/462.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob462">
+  <link name="random_obj_462">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0881"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="462.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.12 0.81 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="462_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/462/462_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/462/462_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/462/462_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/462/462_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/462/462_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0425b2cfbe36b76f9fc8381b1c8d9c8bdee80d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/462/462_coll.obj
@@ -0,0 +1,450 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/463/463.mtl b/external/rlbench/rlbench/assets/procedural_objects/463/463.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eed11b702fa49fed1dd84ead7c2aa1c083831c7e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/463/463.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 463_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.672156 0.330804 0.413482
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 463.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/463/463.obj b/external/rlbench/rlbench/assets/procedural_objects/463/463.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745edb84154f295bb018f52787173c73b5bb44bd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/463/463.obj
@@ -0,0 +1,5236 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 463.mtl
+o 463_Cube.1873
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/463/463.png b/external/rlbench/rlbench/assets/procedural_objects/463/463.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/463/463.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/463/463.urdf b/external/rlbench/rlbench/assets/procedural_objects/463/463.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41f331e5a068e82d8154308320065cad71cd82c1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/463/463.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob463">
+  <link name="random_obj_463">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0634"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="463.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.70 0.33 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="463_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/463/463_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/463/463_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/463/463_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/463/463_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/463/463_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f9b18e55d7e293854cce5aa903481c98cc2864
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/463/463_coll.obj
@@ -0,0 +1,1068 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/464/464.mtl b/external/rlbench/rlbench/assets/procedural_objects/464/464.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ad6d7196567a96ba7001cd02bf206c40bdafa9f6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/464/464.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 464_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.399809 0.252057 0.086447
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 464.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/464/464.obj b/external/rlbench/rlbench/assets/procedural_objects/464/464.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c828c43c02045891015eb3bc0c3bda7fe878aef
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/464/464.obj
@@ -0,0 +1,1293 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/464/464.png b/external/rlbench/rlbench/assets/procedural_objects/464/464.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/464/464.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/464/464.urdf b/external/rlbench/rlbench/assets/procedural_objects/464/464.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..737c744629d4913c3fc4365e687ddb8f73fc2bd9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/464/464.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob464">
+  <link name="random_obj_464">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0641"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="464.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.13 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="464_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/464/464_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/464/464_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/464/464_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/464/464_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/464/464_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e161f8e35e3f9360ae1a6cc254192381f2ce8f4e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/465/465.mtl b/external/rlbench/rlbench/assets/procedural_objects/465/465.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b4c80d8d89c11642776692acf06a5a7b881e9b6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/465/465.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 465_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.303481 0.763563 0.632899
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 465.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/465/465.obj b/external/rlbench/rlbench/assets/procedural_objects/465/465.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4708a4f244a3ba28500ad8916d08579edf4d99b7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/465/465.obj
@@ -0,0 +1,731 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/465/465.png b/external/rlbench/rlbench/assets/procedural_objects/465/465.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/465/465.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/465/465.urdf b/external/rlbench/rlbench/assets/procedural_objects/465/465.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a776e8b8fb05d1f69c5525e8a241a0347b0d0dd6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/465/465.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob465">
+  <link name="random_obj_465">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0543"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="465.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.18 0.45 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="465_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/465/465_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/465/465_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/465/465_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/465/465_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/465/465_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3fd1aea741c1edb04840cb568aff3c0e65c51f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/465/465_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/466/466.mtl b/external/rlbench/rlbench/assets/procedural_objects/466/466.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbb3bd24043fe8bd2ce6bfeb1765e7f23fc14dbc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/466/466.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 466_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 466.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/466/466.obj b/external/rlbench/rlbench/assets/procedural_objects/466/466.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d462aed7c96368e9a608902f5c3b5712d93dcba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/466/466.obj
@@ -0,0 +1,288 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/466/466.png b/external/rlbench/rlbench/assets/procedural_objects/466/466.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/466/466.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/466/466.urdf b/external/rlbench/rlbench/assets/procedural_objects/466/466.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..57f6b0efcdd7f11ca9485f600424f041223dbcfe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/466/466.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob466">
+  <link name="random_obj_466">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1181"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="466.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.87 0.52 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="466_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/466/466_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/466/466_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/466/466_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/466/466_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/466/466_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f8b07603335d85f91cf6f1879a89f9e29c495b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/466/466_coll.obj
@@ -0,0 +1,492 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/467/467.mtl b/external/rlbench/rlbench/assets/procedural_objects/467/467.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c430fecfa37d4d5752680920e9217f1c0838940
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/467/467.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 467_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.467395 0.778847 0.045796
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 467.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/467/467.obj b/external/rlbench/rlbench/assets/procedural_objects/467/467.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346de54bfb9e4fd35e9bb0194258ce8befdc350f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/467/467.obj
@@ -0,0 +1,737 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 467.mtl
+o 467_Cube.1893
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/467/467.png b/external/rlbench/rlbench/assets/procedural_objects/467/467.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/467/467.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/467/467.urdf b/external/rlbench/rlbench/assets/procedural_objects/467/467.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d4b7153c481c5d32f72181370e0bf13ea704c096
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/467/467.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob467">
+  <link name="random_obj_467">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0745"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="467.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.71 0.93 0.35 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="467_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/467/467_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/467/467_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/467/467_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/467/467_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/467/467_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cff087d99ad57ac67c39de53cee52acd141ec9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/467/467_coll.obj
@@ -0,0 +1,531 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/468/468.mtl b/external/rlbench/rlbench/assets/procedural_objects/468/468.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f52f8622fb21d1e1a2abfb0463113a386e0f9e9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/468/468.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 468_mtl
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+Ks 0.500000 0.500000 0.500000
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+illum 2
+map_Kd 468.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/468/468.obj b/external/rlbench/rlbench/assets/procedural_objects/468/468.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae0be4f7db77770f163691010ef968fbff25fae
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/468/468.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/468/468.png b/external/rlbench/rlbench/assets/procedural_objects/468/468.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/468/468.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/468/468.urdf b/external/rlbench/rlbench/assets/procedural_objects/468/468.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c0f0284ad0883efc05ac537299f7082584b4301f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/468/468.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob468">
+  <link name="random_obj_468">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1336"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="468.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.10 0.90 0.81 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="468_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/468/468_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/468/468_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/468/468_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/468/468_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/468/468_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4474c44e10749494601c98b22ce24ce5fd2961
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/468/468_coll.obj
@@ -0,0 +1,612 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/469/469.mtl b/external/rlbench/rlbench/assets/procedural_objects/469/469.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f7fe100cdfcf738a99ecbfaed7307f8c08f1a4d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/469/469.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 469_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.340044 0.729516 0.645140
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 469.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/469/469.obj b/external/rlbench/rlbench/assets/procedural_objects/469/469.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c711b79f67cd5801d1351a31674a2420552829f3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/469/469.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/469/469.png b/external/rlbench/rlbench/assets/procedural_objects/469/469.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/469/469.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/469/469.urdf b/external/rlbench/rlbench/assets/procedural_objects/469/469.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a24c6e66de306ea242f6f016118de5fb6369e95e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/469/469.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob469">
+  <link name="random_obj_469">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0631"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="469.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.68 0.51 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="469_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/469/469_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/469/469_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/469/469_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/469/469_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/469/469_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9384d0913c01c6f82d4605b683e9152b9581ceb8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/469/469_coll.obj
@@ -0,0 +1,1251 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/470/470.mtl b/external/rlbench/rlbench/assets/procedural_objects/470/470.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c7a65eba067c558b1370a448d2b0b788abafb87
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/470/470.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 470_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.064050 0.477262 0.316460
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 470.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/470/470.obj b/external/rlbench/rlbench/assets/procedural_objects/470/470.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b567aa7f113c47260685b353bf6eaa05076f700
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/470/470.obj
@@ -0,0 +1,374 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 470.mtl
+o 470_Cube.1907
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/470/470.png b/external/rlbench/rlbench/assets/procedural_objects/470/470.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/470/470.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/470/470.urdf b/external/rlbench/rlbench/assets/procedural_objects/470/470.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ccdeee153eb79add1d564e3bcf93837e40d4b7f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/470/470.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob470">
+  <link name="random_obj_470">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0695"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="470.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.93 0.62 1.00 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="470_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/470/470_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/470/470_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/470/470_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/470/470_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/470/470_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82094931cfb57f9499f676c3698509b0196d639c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/470/470_coll.obj
@@ -0,0 +1,891 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/471/471.mtl b/external/rlbench/rlbench/assets/procedural_objects/471/471.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..962327c4e6823d5203fcb150c829f71552592641
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/471/471.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 471_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.613810 0.281610 0.579478
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 471.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/471/471.obj b/external/rlbench/rlbench/assets/procedural_objects/471/471.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede18cd981019f541684058483e3cdc42981039e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/471/471.obj
@@ -0,0 +1,3749 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 471.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/471/471.png b/external/rlbench/rlbench/assets/procedural_objects/471/471.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/471/471.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/471/471.urdf b/external/rlbench/rlbench/assets/procedural_objects/471/471.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6673590e81c6ab58ab84a2287eed1f3f9b6ed89
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/471/471.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob471">
+  <link name="random_obj_471">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1494"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="471.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.19 0.22 0.58 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="471_coll.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/471/471_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/471/471_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/471/471_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/471/471_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/471/471_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d728cec6cc963eaa4116973d4d3c18673b141d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/471/471_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/472/472.mtl b/external/rlbench/rlbench/assets/procedural_objects/472/472.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b456839839f0e55e75ab6b1da625d63b812904ca
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/472/472.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 472_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.303789 0.356781 0.024245
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 472.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/472/472.obj b/external/rlbench/rlbench/assets/procedural_objects/472/472.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2a2c37038ccfd8469dfc8cd14fcd781b3d0bca
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/472/472.obj
@@ -0,0 +1,1495 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/472/472.png b/external/rlbench/rlbench/assets/procedural_objects/472/472.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/472/472.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/472/472.urdf b/external/rlbench/rlbench/assets/procedural_objects/472/472.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f41bf9db548cb72b7184b7c4405a5f04f8ea13d0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/472/472.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob472">
+  <link name="random_obj_472">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1001"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="472.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.54 0.86 0.03 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="472_coll.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/472/472_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/472/472_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/472/472_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/472/472_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/472/472_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d810908e39c121053eaab4185aa8c09b1b5c6d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/472/472_coll.obj
@@ -0,0 +1,189 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/473/473.mtl b/external/rlbench/rlbench/assets/procedural_objects/473/473.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf36c6f549d173a2c38c2a655ef28b3c1842eb47
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/473/473.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 473_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.052463 0.144698 0.671775
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 473.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/473/473.obj b/external/rlbench/rlbench/assets/procedural_objects/473/473.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0362aea6d3758258c4c54fbd8bc791bd63ec89
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/473/473.obj
@@ -0,0 +1,2950 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 473.mtl
+o 473_Cube.1918
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/473/473.png b/external/rlbench/rlbench/assets/procedural_objects/473/473.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/473/473.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/473/473.urdf b/external/rlbench/rlbench/assets/procedural_objects/473/473.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5986219acbeba26d325082f8f69d43df5b945ff5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/473/473.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob473">
+  <link name="random_obj_473">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1049"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="473.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.67 0.73 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="473_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/473/473_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/473/473_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/473/473_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/473/473_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/473/473_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246bf52e13111f24e32d832554714f0744651644
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/473/473_coll.obj
@@ -0,0 +1,1311 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/474/474.mtl b/external/rlbench/rlbench/assets/procedural_objects/474/474.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8099c84b627d1dd6998623a24f3ad4dcf75c123
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/474/474.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 474_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.636611 0.163114 0.330326
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 474.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/474/474.obj b/external/rlbench/rlbench/assets/procedural_objects/474/474.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a91791f44cc0f643f27706109e194464c0c47648
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/474/474.obj
@@ -0,0 +1,4734 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 474.mtl
+o 474_Cube.1923
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/474/474.png b/external/rlbench/rlbench/assets/procedural_objects/474/474.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/474/474.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/474/474.urdf b/external/rlbench/rlbench/assets/procedural_objects/474/474.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ee6fcc13509b1be211b8f5a9529370cdda34023
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/474/474.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob474">
+  <link name="random_obj_474">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0474"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="474.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.79 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="474_coll.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/474/474_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/474/474_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/474/474_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/474/474_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/474/474_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0fc0af4cd3b1e7aaaeea21fcb6dda6fdd38344
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/474/474_coll.obj
@@ -0,0 +1,1077 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/475/475.mtl b/external/rlbench/rlbench/assets/procedural_objects/475/475.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ec1212946c8a32e123582a5333d99ff8ecaecb2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/475/475.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 475_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.634788 0.343478 0.742028
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 475.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/475/475.obj b/external/rlbench/rlbench/assets/procedural_objects/475/475.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0459f666ebbcfb91561a57860bfca8d0d918ea83
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/475/475.obj
@@ -0,0 +1,6815 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/475/475.png b/external/rlbench/rlbench/assets/procedural_objects/475/475.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/475/475.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/475/475.urdf b/external/rlbench/rlbench/assets/procedural_objects/475/475.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efe6b2dec4823a9a90d3b6139788f2439a8917cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/475/475.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob475">
+  <link name="random_obj_475">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1487"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="475.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.23 0.46 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="475_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/475/475_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/475/475_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/475/475_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/475/475_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/475/475_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8ea73f9d2db6885534eb74a52ac700f335d138
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/475/475_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/476/476.mtl b/external/rlbench/rlbench/assets/procedural_objects/476/476.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..893a457834cbc7bc660cdc416ae746901662f2c2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/476/476.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 476_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.080536 0.682808 0.101893
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 476.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/476/476.obj b/external/rlbench/rlbench/assets/procedural_objects/476/476.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517b6f20ac454e2173bc514fe5e9c8ac51d902cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/476/476.obj
@@ -0,0 +1,5849 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/476/476.urdf b/external/rlbench/rlbench/assets/procedural_objects/476/476.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9a3530c83c871676c4ab75b7ecac49a0c4d06896
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/476/476.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob476">
+  <link name="random_obj_476">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1037"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="476.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.69 0.79 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="476_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/476/476_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/476/476_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/476/476_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/476/476_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/476/476_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bfaca11636d319178f9181ec5837e87e2da3732
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/476/476_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/477/477.mtl b/external/rlbench/rlbench/assets/procedural_objects/477/477.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cdf0dfecc148c4a5145f93e495927ba37171d9f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/477/477.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 477_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.047718 0.358345 0.088376
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 477.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/477/477.obj b/external/rlbench/rlbench/assets/procedural_objects/477/477.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64e27471247f536c9f8a47585c390e0dcf9c2c3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/477/477.obj
@@ -0,0 +1,625 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 477.mtl
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+<robot name="blob477">
+  <link name="random_obj_477">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0822"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="477.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.50 0.93 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="477_coll.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/477/477_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/477/477_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/477/477_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/477/477_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/477/477_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d86d24677d06a157196fba81edc936150290eb9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/477/477_coll.obj
@@ -0,0 +1,597 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/478/478.mtl b/external/rlbench/rlbench/assets/procedural_objects/478/478.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd630e5cd5e41684ebc5e4fafe998d17ed92b794
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/478/478.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 478_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.007898 0.166676 0.206727
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 478.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/478/478.obj b/external/rlbench/rlbench/assets/procedural_objects/478/478.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de07dd17949f99fcbe1bd432cb1c62b198a99730
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/478/478.obj
@@ -0,0 +1,5562 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 478.mtl
+o 478_Cube.1940
+v -1.903077 4.297475 1.048369
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+v -1.818190 4.936950 1.055742
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+v -1.934011 3.748179 1.308793
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/478/478.png b/external/rlbench/rlbench/assets/procedural_objects/478/478.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/478/478.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/478/478.urdf b/external/rlbench/rlbench/assets/procedural_objects/478/478.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a9ac071a4caf4b3192e509b7cdf6757a0fff397
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/478/478.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob478">
+  <link name="random_obj_478">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1071"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="478.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.75 0.44 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="478_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/478/478_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/478/478_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/478/478_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/478/478_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/478/478_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f424435745c159ee84db21e1594d0454a86618
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/478/478_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/479/479.mtl b/external/rlbench/rlbench/assets/procedural_objects/479/479.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0cbb90b7789fb7e96b0c0a8824cb70012cddcf1f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/479/479.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 479_mtl
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+Ka 0.000000 0.000000 0.000000
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+illum 2
+map_Kd 479.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/479/479.obj b/external/rlbench/rlbench/assets/procedural_objects/479/479.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab60a48787a1be7ee006aedcb005a20d724e468
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/479/479.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/479/479.png b/external/rlbench/rlbench/assets/procedural_objects/479/479.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/479/479.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/479/479.urdf b/external/rlbench/rlbench/assets/procedural_objects/479/479.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed47d77ae8cff80b3fede5ea880bd107a975d9b2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/479/479.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob479">
+  <link name="random_obj_479">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0999"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="479.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.62 0.58 0.04 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="479_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/479/479_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/479/479_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/479/479_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/479/479_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/479/479_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b907b5fde62064744cbeb4d313185cf027843e7d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/479/479_coll.obj
@@ -0,0 +1,663 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/480/480.mtl b/external/rlbench/rlbench/assets/procedural_objects/480/480.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f8cc5d361736dcf418ee6de3cc279f597ee5bed
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/480/480.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 480_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.454457 0.160654 0.164743
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 480.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/480/480.obj b/external/rlbench/rlbench/assets/procedural_objects/480/480.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8123aa31e96c73d01b03fb85d83d35b721dbbde
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/480/480.obj
@@ -0,0 +1,4690 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/480/480.png b/external/rlbench/rlbench/assets/procedural_objects/480/480.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/480/480.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/480/480.urdf b/external/rlbench/rlbench/assets/procedural_objects/480/480.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec389ef8f5c5a3da460255d763ddeff4b66668bd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/480/480.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob480">
+  <link name="random_obj_480">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0590"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="480.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.39 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="480_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/480/480_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/480/480_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/480/480_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/480/480_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/480/480_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75eac2b12a8b32bdc9aa758d55e1adb440b473d7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/480/480_coll.obj
@@ -0,0 +1,378 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/481/481.mtl b/external/rlbench/rlbench/assets/procedural_objects/481/481.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4816ad084bcd97159bdac91f0709d6a2060a230f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/481/481.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 481_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.277912 0.336412 0.138995
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 481.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/481/481.obj b/external/rlbench/rlbench/assets/procedural_objects/481/481.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf6fb512894d553756ca3b3f24c0e813c2541f2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/481/481.obj
@@ -0,0 +1,5258 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 481.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/481/481.png b/external/rlbench/rlbench/assets/procedural_objects/481/481.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/481/481.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/481/481.urdf b/external/rlbench/rlbench/assets/procedural_objects/481/481.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b46910ca70a7da0031231ba64093204d0283061e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/481/481.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob481">
+  <link name="random_obj_481">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0253"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="481.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.94 0.14 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="481_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/481/481_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/481/481_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/481/481_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/481/481_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/481/481_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48dd8b2331b574f758cad522dcf252ad488ffb44
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/481/481_coll.obj
@@ -0,0 +1,768 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/482/482.mtl b/external/rlbench/rlbench/assets/procedural_objects/482/482.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a0fa8047b4666c34e9fe2b321fae013c0016802
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/482/482.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 482_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.034047 0.750464 0.123413
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 482.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/482/482.obj b/external/rlbench/rlbench/assets/procedural_objects/482/482.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e347a699b8adb9f10982bef79ee4ec7f65e5720c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/482/482.obj
@@ -0,0 +1,129 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 482.mtl
+o 482_Cube.1957
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/482/482.png b/external/rlbench/rlbench/assets/procedural_objects/482/482.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/482/482.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/482/482.urdf b/external/rlbench/rlbench/assets/procedural_objects/482/482.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9186854cff09e3c309b26462dfcb8f8646e53180
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/482/482.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob482">
+  <link name="random_obj_482">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1020"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="482.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.89 0.28 0.30 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="482_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/482/482_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/482/482_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/482/482_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/482/482_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/482/482_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b78277535dd7c93eaaccd4aa32ae42dedcfe0b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/482/482_coll.obj
@@ -0,0 +1,114 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/483/483.mtl b/external/rlbench/rlbench/assets/procedural_objects/483/483.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..95fd820b00d1b1512337da643d69d35c3294eb97
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/483/483.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 483_mtl
+Ns 96.078431
+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 483.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/483/483.obj b/external/rlbench/rlbench/assets/procedural_objects/483/483.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0a550d8fbd033cf8f6dbedf45f94b5415ffdeb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/483/483.obj
@@ -0,0 +1,1922 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 483.mtl
+o 483_Cube.1960
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/483/483.png b/external/rlbench/rlbench/assets/procedural_objects/483/483.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/483/483.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/483/483.urdf b/external/rlbench/rlbench/assets/procedural_objects/483/483.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..520963b7527357609b8786a381f00608a0f8f491
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/483/483.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob483">
+  <link name="random_obj_483">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1034"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="483.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.75 0.38 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="483_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/483/483_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/483/483_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/483/483_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/483/483_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/483/483_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ddd75beed01b83777fdc5fec9215bea9f83eeaf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/483/483_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/484/484.mtl b/external/rlbench/rlbench/assets/procedural_objects/484/484.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea0149a21273f32e9a3de849a698cb4d304db480
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/484/484.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 484_mtl
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+Ka 0.000000 0.000000 0.000000
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/484/484.obj b/external/rlbench/rlbench/assets/procedural_objects/484/484.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82c545661c71209066477a8badaa2b171d5c47d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/484/484.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/484/484.png b/external/rlbench/rlbench/assets/procedural_objects/484/484.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/484/484.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/484/484.urdf b/external/rlbench/rlbench/assets/procedural_objects/484/484.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6f97bd879d08f1dec98dad9aab7e1a835a3fd8e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/484/484.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_484">
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+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="484_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/484/484_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/484/484_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/484/484_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/484/484_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/484/484_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71621c4adc999cd199bfc7ee98a26bdd69ce4db5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/484/484_coll.obj
@@ -0,0 +1,687 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/485/485.mtl b/external/rlbench/rlbench/assets/procedural_objects/485/485.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca83d6ad524486defd1b2fe269aaa1d41631ded6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/485/485.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 485_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.063132 0.012767 0.224230
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 485.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/485/485.obj b/external/rlbench/rlbench/assets/procedural_objects/485/485.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75393f6d35ce8057e9c2963b484b5bdd83712e77
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/485/485.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/485/485.png b/external/rlbench/rlbench/assets/procedural_objects/485/485.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/485/485.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/485/485.urdf b/external/rlbench/rlbench/assets/procedural_objects/485/485.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ef7396083f03939abd254840977f2b64ec0e795c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/485/485.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob485">
+  <link name="random_obj_485">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1031"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="485.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.64 0.29 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="485_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/485/485_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/485/485_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/485/485_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/485/485_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/485/485_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ddcfc41d09bcbb9cb88ff4974e09531f6a18d3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/485/485_coll.obj
@@ -0,0 +1,693 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/486/486.mtl b/external/rlbench/rlbench/assets/procedural_objects/486/486.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f3fabbe10e67f977b86912644d91be91c844bc3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/486/486.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 486_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.255730 0.642429 0.629987
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 486.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/486/486.obj b/external/rlbench/rlbench/assets/procedural_objects/486/486.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d516d9fdb516a15ae397bc47143e6b8924970c37
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/486/486.obj
@@ -0,0 +1,314 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/486/486.png b/external/rlbench/rlbench/assets/procedural_objects/486/486.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/486/486.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/486/486.urdf b/external/rlbench/rlbench/assets/procedural_objects/486/486.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3c736bf33bcd23536420b658f9b82f22a624585
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/486/486.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob486">
+  <link name="random_obj_486">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1147"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="486.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.16 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="486_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/486/486_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/486/486_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/486/486_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/486/486_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/486/486_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f058c84101cd595721807a4ba446149de52f8fd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/486/486_coll.obj
@@ -0,0 +1,612 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/487/487.mtl b/external/rlbench/rlbench/assets/procedural_objects/487/487.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fd844874aa5d6ee0370cea7aefefb694a7d6ee1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/487/487.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 487_mtl
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+d 1.000000
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+map_Kd 487.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/487/487.obj b/external/rlbench/rlbench/assets/procedural_objects/487/487.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4bf3d7d1b5e348ed0175f101db69f5614f09bc3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/487/487.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/487/487.png b/external/rlbench/rlbench/assets/procedural_objects/487/487.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/487/487.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/487/487.urdf b/external/rlbench/rlbench/assets/procedural_objects/487/487.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5c5012c14f6ca1da083c3e9f97818e4bef43675
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/487/487.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob487">
+  <link name="random_obj_487">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0778"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="487.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.85 0.09 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="487_coll.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/487/487_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/487/487_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/487/487_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/487/487_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/487/487_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a38957d8f1f89146abea35b4622da243c0a7dfee
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/487/487_coll.obj
@@ -0,0 +1,321 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/488/488.mtl b/external/rlbench/rlbench/assets/procedural_objects/488/488.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2437f5a09f1a0c1a735c43829eb65e0b0a884ef3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/488/488.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 488_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.088216 0.294965 0.028362
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 488.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/488/488.obj b/external/rlbench/rlbench/assets/procedural_objects/488/488.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f6c1bfa80b7db81308b5bc9c8252990d54d58c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/488/488.obj
@@ -0,0 +1,5556 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 488.mtl
+o 488_Cube.1979
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/488/488.png b/external/rlbench/rlbench/assets/procedural_objects/488/488.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/488/488.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/488/488.urdf b/external/rlbench/rlbench/assets/procedural_objects/488/488.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e64c5a277852d8cedfa50f01d40dc6c4d979e7c3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/488/488.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob488">
+  <link name="random_obj_488">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1120"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="488.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.86 0.30 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="488_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/488/488_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/488/488_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/488/488_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/488/488_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/488/488_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612afe556e04386aa2d8a311ca5fb24c6d4fa0e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/488/488_coll.obj
@@ -0,0 +1,804 @@
+o convex_0
+v -0.265258 -3.738827 3.930169
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/489/489.mtl b/external/rlbench/rlbench/assets/procedural_objects/489/489.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e6bace508ad919037d70690271863f7ae041685
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/489/489.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 489_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.140834 0.369179 0.368482
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 489.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/489/489.obj b/external/rlbench/rlbench/assets/procedural_objects/489/489.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a46f0a86e60f856ccffab3846bc677e7771767f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/489/489.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/489/489.png b/external/rlbench/rlbench/assets/procedural_objects/489/489.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/489/489.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/489/489.urdf b/external/rlbench/rlbench/assets/procedural_objects/489/489.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..509eef749c12e36151768d420b0e343fc17b89d5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/489/489.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob489">
+  <link name="random_obj_489">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1259"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="489.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.37 0.36 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="489_coll.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/489/489_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/489/489_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/489/489_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/489/489_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/489/489_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13fed339fec8bc8bb78712fedb4772903635d2e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/489/489_coll.obj
@@ -0,0 +1,726 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/490/490.mtl b/external/rlbench/rlbench/assets/procedural_objects/490/490.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c727f3cf20319c34e9bf5804b6a7e88f6cef301f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/490/490.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 490_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.412198 0.120537 0.541328
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 490.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/490/490.obj b/external/rlbench/rlbench/assets/procedural_objects/490/490.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3701a4c01c39f260395058a0024a273568e03bb2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/490/490.obj
@@ -0,0 +1,240 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 490.mtl
+o 490_Cube.1988
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/490/490.png b/external/rlbench/rlbench/assets/procedural_objects/490/490.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/490/490.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/490/490.urdf b/external/rlbench/rlbench/assets/procedural_objects/490/490.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f42c3f23a6eb517826414eec364475c549c64ced
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/490/490.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob490">
+  <link name="random_obj_490">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0958"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="490.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.72 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="490_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/490/490_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/490/490_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/490/490_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/490/490_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/490/490_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc16492eade737b1680961be2983ed5f92c393f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/490/490_coll.obj
@@ -0,0 +1,411 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/491/491.mtl b/external/rlbench/rlbench/assets/procedural_objects/491/491.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e4fbf1b17fa9791557d62c015831c076033b7c04
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/491/491.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 491_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.290925 0.277458 0.107296
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 491.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/491/491.obj b/external/rlbench/rlbench/assets/procedural_objects/491/491.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2fa59ef9f8024265f70a5b07005b64b53187613
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/491/491.obj
@@ -0,0 +1,5786 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 491.mtl
+o 491_Cube.1991
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/491/491.png b/external/rlbench/rlbench/assets/procedural_objects/491/491.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/491/491.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/491/491.urdf b/external/rlbench/rlbench/assets/procedural_objects/491/491.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..15a160ed56cd73b3cb99df727155dcdd6fb062e1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/491/491.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob491">
+  <link name="random_obj_491">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0808"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="491.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.90 0.09 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="491_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/491/491_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/491/491_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/491/491_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/491/491_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/491/491_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578e097035863d2ed2bbfa2c589e787e782bc699
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/491/491_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/492/492.mtl b/external/rlbench/rlbench/assets/procedural_objects/492/492.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00f319505fb87b3cfade5de19a0c8be70ca0549d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/492/492.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 492_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.232732 0.060178 0.415801
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 492.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/492/492.obj b/external/rlbench/rlbench/assets/procedural_objects/492/492.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e5a33e0fc813ee6030fd1f27b900a12198f943
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/492/492.obj
@@ -0,0 +1,1586 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/492/492.png b/external/rlbench/rlbench/assets/procedural_objects/492/492.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/492/492.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/492/492.urdf b/external/rlbench/rlbench/assets/procedural_objects/492/492.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52737a136cd0d2296214b1e130c8d1d91434e5f5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/492/492.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob492">
+  <link name="random_obj_492">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0940"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="492.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.02 0.84 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="492_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/492/492_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/492/492_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/492/492_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/492/492_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/492/492_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faffddae22294cb6934cba352fc0cbf26bd1acc0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/492/492_coll.obj
@@ -0,0 +1,189 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/493/493.mtl b/external/rlbench/rlbench/assets/procedural_objects/493/493.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa4881b2fb8d412aae178014ce95a74d46bfda34
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/493/493.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 493_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.488822 0.090049 0.133096
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 493.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/493/493.obj b/external/rlbench/rlbench/assets/procedural_objects/493/493.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e233c43fc8d68db7c74bab6d41883a4a81dcc5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/493/493.obj
@@ -0,0 +1,214 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 493.mtl
+o 493_Cube.1999
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+usemtl 493_mtl
+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/493/493.png b/external/rlbench/rlbench/assets/procedural_objects/493/493.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/493/493.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/493/493.urdf b/external/rlbench/rlbench/assets/procedural_objects/493/493.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..310502679031df6fffeb87db9b7edbeb9df29301
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/493/493.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob493">
+  <link name="random_obj_493">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1021"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="493.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.53 1.00 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="493_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/493/493_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/493/493_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/493/493_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/493/493_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/493/493_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d501ee262781a967729962deadc604c1d0957058
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/493/493_coll.obj
@@ -0,0 +1,408 @@
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+o convex_5
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+f 123 117 127 
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+f 113 119 126 
+f 122 113 126 
+f 119 122 126 
+f 119 115 127 
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+f 115 123 127 
+o convex_6
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+v 0.709363 1.519616 -2.147921
+f 139 131 143 
+f 130 129 128 
+f 128 129 132 
+f 129 131 132 
+f 130 128 136 
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+f 130 136 139 
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+f 133 135 142 
+f 140 132 142 
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+f 141 133 142 
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+f 130 139 143 
diff --git a/external/rlbench/rlbench/assets/procedural_objects/494/494.mtl b/external/rlbench/rlbench/assets/procedural_objects/494/494.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c5dc99354bf02276326572de3b372f946e66e86d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/494/494.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 494_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.507636 0.140607 0.470429
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 494.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/494/494.obj b/external/rlbench/rlbench/assets/procedural_objects/494/494.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f16b7f5cb2e01cd51dbe910640d45f900a1567
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/494/494.obj
@@ -0,0 +1,102 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 494.mtl
+o 494_Cube.2002
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/494/494.png b/external/rlbench/rlbench/assets/procedural_objects/494/494.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/494/494.urdf b/external/rlbench/rlbench/assets/procedural_objects/494/494.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3da932f43ea741e4e435e942cce64a67cd728a2b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/494/494.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob494">
+  <link name="random_obj_494">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1231"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="494.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.94 0.37 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="494_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/494/494_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/494/494_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/494/494_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/494/494_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/494/494_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6183cecee6c756328fb9557e0526472219b042e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/494/494_coll.obj
@@ -0,0 +1,168 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/495/495.mtl b/external/rlbench/rlbench/assets/procedural_objects/495/495.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20e3d43be904c8704c8f771a9752a4aa55980448
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/495/495.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 495_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
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+illum 2
+map_Kd 495.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/495/495.obj b/external/rlbench/rlbench/assets/procedural_objects/495/495.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d45bd74663c9aec7c860625aa4cfff1402231e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/495/495.obj
@@ -0,0 +1,2944 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 495.mtl
+o 495_Cube.2005
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/495/495.png b/external/rlbench/rlbench/assets/procedural_objects/495/495.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/495/495.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/495/495.urdf b/external/rlbench/rlbench/assets/procedural_objects/495/495.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a852e2d93941cad1f27e3f4fc9105e6e424a9e44
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/495/495.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob495">
+  <link name="random_obj_495">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0718"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="495.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.52 0.65 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="495_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/495/495_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/495/495_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/495/495_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/495/495_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/495/495_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95dd11bdc76593738560e8a4d3f596233b1d703e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/495/495_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/496/496.mtl b/external/rlbench/rlbench/assets/procedural_objects/496/496.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7705a8a938d5bc133c5078a19cc348f0cc0100c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/496/496.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 496_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.520449 0.357533 0.738226
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 496.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/496/496.obj b/external/rlbench/rlbench/assets/procedural_objects/496/496.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929bfc153f86202673076449c94bb20f5427d010
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/496/496.obj
@@ -0,0 +1,214 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 496.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/496/496.png b/external/rlbench/rlbench/assets/procedural_objects/496/496.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/496/496.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/496/496.urdf b/external/rlbench/rlbench/assets/procedural_objects/496/496.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3bda350d7af1536ad0d114a23605cfbf4b3ef05d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/496/496.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob496">
+  <link name="random_obj_496">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0533"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="496.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.04 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="496_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/496/496_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/496/496_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/496/496_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/496/496_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/496/496_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec8f11e15e7cba036505d5f59b676ebe646af9e6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/496/496_coll.obj
@@ -0,0 +1,342 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/497/497.mtl b/external/rlbench/rlbench/assets/procedural_objects/497/497.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d7835f11c19fbe8b22b718ece70eb12302ea5d7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/497/497.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 497_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.415913 0.083023 0.227715
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 497.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/497/497.obj b/external/rlbench/rlbench/assets/procedural_objects/497/497.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85b5d767af50e01dbf2d4ad4525a8a116ecff11
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/497/497.obj
@@ -0,0 +1,2050 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 497.mtl
+o 497_Cube.2012
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/497/497.png b/external/rlbench/rlbench/assets/procedural_objects/497/497.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/497/497.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/497/497.urdf b/external/rlbench/rlbench/assets/procedural_objects/497/497.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..664fcfc1f8c4fa05f48d20f6cf1bdfca58211f7f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/497/497.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob497">
+  <link name="random_obj_497">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1387"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="497.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.73 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="497_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/497/497_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/497/497_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/497/497_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/497/497_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/497/497_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52bcc3651c2f293db596fd84eef13fe6d90b079
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/497/497_coll.obj
@@ -0,0 +1,1299 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/498/498.mtl b/external/rlbench/rlbench/assets/procedural_objects/498/498.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c85717dfc7653022b71439705eb2143a83e499e9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/498/498.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 498_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.571486 0.455608 0.147712
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 498.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/498/498.obj b/external/rlbench/rlbench/assets/procedural_objects/498/498.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48957d4f73c0f855090d5cebae696776f6a7f8f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/498/498.obj
@@ -0,0 +1,5020 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 498.mtl
+o 498_Cube.2017
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/498/498.png b/external/rlbench/rlbench/assets/procedural_objects/498/498.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/498/498.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/498/498.urdf b/external/rlbench/rlbench/assets/procedural_objects/498/498.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e60197addff21af18648bbca3178898e17f4576
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/498/498.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob498">
+  <link name="random_obj_498">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1173"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="498.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.49 0.02 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="498_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/498/498_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/498/498_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/498/498_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/498/498_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/498/498_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dd495511db3db7838c688900a42f1bc69e9504f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/498/498_coll.obj
@@ -0,0 +1,780 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/499/499.mtl b/external/rlbench/rlbench/assets/procedural_objects/499/499.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d3702a29ad9f0dd70d1144d4163dce48590d8edc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/499/499.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 499_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.081593 0.339931 0.058710
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 499.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/499/499.obj b/external/rlbench/rlbench/assets/procedural_objects/499/499.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf71d1420686a7eb96c0ec30fa49ecd13113d384
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/499/499.obj
@@ -0,0 +1,6153 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/499/499.png b/external/rlbench/rlbench/assets/procedural_objects/499/499.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/499/499.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/499/499.urdf b/external/rlbench/rlbench/assets/procedural_objects/499/499.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..09f0e75d715d5796c7db5dbce7be2aee5f2242fa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/499/499.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob499">
+  <link name="random_obj_499">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0847"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="499.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.87 0.51 0.02 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="499_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/499/499_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/499/499_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/499/499_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/499/499_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/499/499_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8686be627400195386a5846c7733436b724bfe99
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/499/499_coll.obj
@@ -0,0 +1,984 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/500/500.mtl b/external/rlbench/rlbench/assets/procedural_objects/500/500.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fba4637c38a6386083b3e1fd940759ceecc8dfc9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/500/500.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 500_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.148067 0.491884 0.698354
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 500.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/500/500.obj b/external/rlbench/rlbench/assets/procedural_objects/500/500.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ca0b6c1f0a6caabc19bc6c56c9e9cf782cb155
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/500/500.obj
@@ -0,0 +1,159 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 500.mtl
+o 500_Cube.2023
+v -2.917179 -6.045883 -1.014106
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+usemtl 500_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/500/500.png b/external/rlbench/rlbench/assets/procedural_objects/500/500.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/500/500.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/500/500.urdf b/external/rlbench/rlbench/assets/procedural_objects/500/500.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11cd62388d1085a657f3f3790b48472abf9a18e0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/500/500.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob500">
+  <link name="random_obj_500">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1220"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="500.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.37 0.22 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="500_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/500/500_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/500/500_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/500/500_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/500/500_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/500/500_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c617dfceafd657c22521a24cff71b8023a452987
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/500/500_coll.obj
@@ -0,0 +1,447 @@
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+o convex_4
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/501/501.mtl b/external/rlbench/rlbench/assets/procedural_objects/501/501.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e56202b21531252edc834d3aebbd9a9b9b69d3aa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/501/501.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 501_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.349069 0.120904 0.246385
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 501.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/501/501.obj b/external/rlbench/rlbench/assets/procedural_objects/501/501.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bacc4d5f1cc00f378a24deb1e4356abf9aa68dc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/501/501.obj
@@ -0,0 +1,154 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 501.mtl
+o 501_Cube.2026
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+usemtl 501_mtl
+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/501/501.png b/external/rlbench/rlbench/assets/procedural_objects/501/501.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/501/501.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/501/501.urdf b/external/rlbench/rlbench/assets/procedural_objects/501/501.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..43920e85a146d6f83687c350154fc49afe7c3b24
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/501/501.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob501">
+  <link name="random_obj_501">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1109"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="501.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.93 0.03 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="501_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/501/501_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/501/501_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/501/501_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/501/501_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/501/501_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f993a6646d5ee48dc479392c193be8906fb21096
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/501/501_coll.obj
@@ -0,0 +1,354 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/502/502.mtl b/external/rlbench/rlbench/assets/procedural_objects/502/502.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3842e39b9ea5334574590b44b78a198149b0438a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/502/502.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 502_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.346903 0.058479 0.100763
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 502.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/502/502.obj b/external/rlbench/rlbench/assets/procedural_objects/502/502.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eefce4aa93d7d89acdc8fcd260a355650defab8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/502/502.obj
@@ -0,0 +1,4961 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/502/502.png b/external/rlbench/rlbench/assets/procedural_objects/502/502.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/502/502.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/502/502.urdf b/external/rlbench/rlbench/assets/procedural_objects/502/502.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a5b6d97712fe6d0a716d0e7c233b8c10dc2f564c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/502/502.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob502">
+  <link name="random_obj_502">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0659"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="502.obj" scale="0.0062 0.0062 0.0062"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.77 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="502_coll.obj" scale="0.0062 0.0062 0.0062"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/502/502_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/502/502_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/502/502_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/502/502_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/502/502_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca20c4ced22db6fc0b67940f032aee92a9b098f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/502/502_coll.obj
@@ -0,0 +1,984 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/503/503.mtl b/external/rlbench/rlbench/assets/procedural_objects/503/503.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0f48c3ea9d0b32e025602b2ff8815d4d42a7d23
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/503/503.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 503_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 503.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/503/503.obj b/external/rlbench/rlbench/assets/procedural_objects/503/503.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb74b98d7181bdd1861742de85a81e75e5ca77e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/503/503.obj
@@ -0,0 +1,2200 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/503/503.png b/external/rlbench/rlbench/assets/procedural_objects/503/503.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/503/503.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/503/503.urdf b/external/rlbench/rlbench/assets/procedural_objects/503/503.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0674f946acbb125de5f27efad274098353f0db77
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/503/503.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob503">
+  <link name="random_obj_503">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0866"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="503.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.19 0.11 0.44 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="503_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/503/503_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/503/503_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/503/503_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/503/503_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/503/503_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30967ca3e4b9b263013d07e5b20c739c396b0f2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/503/503_coll.obj
@@ -0,0 +1,435 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/504/504.mtl b/external/rlbench/rlbench/assets/procedural_objects/504/504.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56fafdbfc5103f370da56741dc2b74a88b467380
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/504/504.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 504_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.694133 0.347169 0.168295
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 504.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/504/504.obj b/external/rlbench/rlbench/assets/procedural_objects/504/504.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24da48c335ed9e977a07c6ad2af70818235a961c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/504/504.obj
@@ -0,0 +1,302 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 504.mtl
+o 504_Cube.2036
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+usemtl 504_mtl
+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/504/504.png b/external/rlbench/rlbench/assets/procedural_objects/504/504.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/504/504.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/504/504.urdf b/external/rlbench/rlbench/assets/procedural_objects/504/504.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e30fb0d620c069a052fef7e05f90aa566394be6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/504/504.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob504">
+  <link name="random_obj_504">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0484"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="504.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.10 0.50 0.55 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="504_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/504/504_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/504/504_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/504/504_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/504/504_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/504/504_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6393fe440d015984ffcbec7b211d7d8907d3acc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/504/504_coll.obj
@@ -0,0 +1,501 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/505/505.mtl b/external/rlbench/rlbench/assets/procedural_objects/505/505.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b28b6925b1c6fb0b0962abcb6f8d6d038274679
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/505/505.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 505_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.269532 0.114327 0.127601
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 505.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/505/505.obj b/external/rlbench/rlbench/assets/procedural_objects/505/505.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb7154c496013f4eb5a9c775ceb569065edd4d9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/505/505.obj
@@ -0,0 +1,525 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 505.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/505/505.png b/external/rlbench/rlbench/assets/procedural_objects/505/505.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/505/505.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/505/505.urdf b/external/rlbench/rlbench/assets/procedural_objects/505/505.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd8ebfeb184cf1880afa3071bfc825d3a0ef7649
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/505/505.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob505">
+  <link name="random_obj_505">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1196"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="505.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.86 0.33 0.00 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="505_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/505/505_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/505/505_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/505/505_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/505/505_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/505/505_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..268af771dcf1cdaf8f206e6408e5480f8e712e59
--- /dev/null
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+o convex_5
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+o convex_6
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+o convex_7
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+o convex_11
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+o convex_12
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+o convex_13
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/506/506.mtl b/external/rlbench/rlbench/assets/procedural_objects/506/506.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5cc805880cb24b896d24c324e791e5a8d3dfa13f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/506/506.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 506_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.099652 0.230048 0.131501
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 506.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/506/506.obj b/external/rlbench/rlbench/assets/procedural_objects/506/506.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e954b10154ea77ab5c81a97cd2ba716d2345177
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/506/506.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/506/506.png b/external/rlbench/rlbench/assets/procedural_objects/506/506.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/506/506.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/506/506.urdf b/external/rlbench/rlbench/assets/procedural_objects/506/506.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc2b1dde2f55dfcec815f6fe07af9cf5902110ea
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/506/506.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob506">
+  <link name="random_obj_506">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0727"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="506.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.69 0.96 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="506_coll.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/506/506_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/506/506_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/506/506_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/506/506_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/506/506_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748e9d13a483ebe666f5364528e15437cf408b74
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/506/506_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/507/507.mtl b/external/rlbench/rlbench/assets/procedural_objects/507/507.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7e64e8e707d086ad6f3a88d566c923607dcdf7c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/507/507.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 507_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/507/507.obj b/external/rlbench/rlbench/assets/procedural_objects/507/507.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8650f66a8041040c01da1719ee0034a039a46638
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/507/507.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/507/507.png b/external/rlbench/rlbench/assets/procedural_objects/507/507.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/507/507.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/507/507.urdf b/external/rlbench/rlbench/assets/procedural_objects/507/507.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6bf2d2afaa6fc7c7c839d08694155f386602da8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/507/507.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob507">
+  <link name="random_obj_507">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1233"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="507.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.22 0.77 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="507_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/507/507_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/507/507_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/507/507_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/507/507_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/507/507_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d5b9cb6bca20cf0dc18b079e777dfea4bc15f5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/507/507_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/508/508.mtl b/external/rlbench/rlbench/assets/procedural_objects/508/508.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c24f60637afc34c0feead9fbde2e504d70e7c1d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/508/508.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 508_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.182010 0.672174 0.705503
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 508.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/508/508.obj b/external/rlbench/rlbench/assets/procedural_objects/508/508.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793c6dee731726a83c922744008413c49cc221a5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/508/508.obj
@@ -0,0 +1,184 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 508.mtl
+o 508_Cube.2053
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/508/508.png b/external/rlbench/rlbench/assets/procedural_objects/508/508.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/508/508.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/508/508.urdf b/external/rlbench/rlbench/assets/procedural_objects/508/508.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..279f205859a3a9395065783cd4a543eefaf0a469
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/508/508.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob508">
+  <link name="random_obj_508">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0666"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="508.obj" scale="0.0062 0.0062 0.0062"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.12 0.65 0.26 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="508_coll.obj" scale="0.0062 0.0062 0.0062"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/508/508_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/508/508_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/508/508_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/508/508_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/508/508_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42164eaffbde26af362ab3858d014af87861d173
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/508/508_coll.obj
@@ -0,0 +1,486 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/509/509.mtl b/external/rlbench/rlbench/assets/procedural_objects/509/509.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df7009ab9920262e62430eae3c3a7bed20e7578a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/509/509.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 509_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.311749 0.061509 0.206928
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 509.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/509/509.obj b/external/rlbench/rlbench/assets/procedural_objects/509/509.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e74bde0757d55d0605f28d7b144262ef153b79
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/509/509.obj
@@ -0,0 +1,6050 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/509/509.png b/external/rlbench/rlbench/assets/procedural_objects/509/509.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/509/509.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/509/509.urdf b/external/rlbench/rlbench/assets/procedural_objects/509/509.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..51c462d20500edc345e383c6bc89dbeb72611f85
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/509/509.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob509">
+  <link name="random_obj_509">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0927"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="509.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.25 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="509_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/509/509_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/509/509_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/509/509_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/509/509_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/509/509_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..498a06e4b4d248dcaa6e28f3c3afa2970dac5aa1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/509/509_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/510/510.mtl b/external/rlbench/rlbench/assets/procedural_objects/510/510.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4cb46c45ccd11e795e4d35b704ad32382e20607
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/510/510.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 510_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.756575 0.288709 0.584830
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 510.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/510/510.obj b/external/rlbench/rlbench/assets/procedural_objects/510/510.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16e7eb7d2cca0380dd4348ab74a4031466a39da
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/510/510.obj
@@ -0,0 +1,5928 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/510/510.png b/external/rlbench/rlbench/assets/procedural_objects/510/510.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/510/510.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/510/510.urdf b/external/rlbench/rlbench/assets/procedural_objects/510/510.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea79660e7390bfbd7eec46059ded5c18495220fe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/510/510.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob510">
+  <link name="random_obj_510">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0894"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="510.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.72 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="510_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/510/510_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/510/510_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/510/510_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/510/510_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/510/510_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc42d4b7468bf6d5ce4defc2ee584565d6b5395
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/510/510_coll.obj
@@ -0,0 +1,1089 @@
+o convex_0
+v 1.874030 0.869306 4.222190
+v -0.629199 -0.412129 2.390798
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/511/511.mtl b/external/rlbench/rlbench/assets/procedural_objects/511/511.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b862b1155ed116f81631a793c3c17460f2c71539
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/511/511.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 511_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.725722 0.098415 0.360325
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 511.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/511/511.obj b/external/rlbench/rlbench/assets/procedural_objects/511/511.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dec4112cdf576e7f5b1773a59087d5691a0aa91
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/511/511.obj
@@ -0,0 +1,537 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 511.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/511/511.png b/external/rlbench/rlbench/assets/procedural_objects/511/511.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/511/511.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/511/511.urdf b/external/rlbench/rlbench/assets/procedural_objects/511/511.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d57a1015b3e37eed016d1ae92ade43c7b4cfb82d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/511/511.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob511">
+  <link name="random_obj_511">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0711"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="511.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.59 0.37 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="511_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/511/511_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/511/511_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/511/511_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/511/511_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/511/511_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2532c438d0f469bcfa61dfe1c0a6f2aceb84a5b2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/511/511_coll.obj
@@ -0,0 +1,189 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/512/512.mtl b/external/rlbench/rlbench/assets/procedural_objects/512/512.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..395edda3e41729851170ae402a46e5554d884ce9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/512/512.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 512_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.314581 0.021518 0.065230
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 512.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/512/512.obj b/external/rlbench/rlbench/assets/procedural_objects/512/512.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e359387aef56dd57067d8257c345356e400a54
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/512/512.obj
@@ -0,0 +1,6257 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 512.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/512/512.png b/external/rlbench/rlbench/assets/procedural_objects/512/512.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/512/512.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/512/512.urdf b/external/rlbench/rlbench/assets/procedural_objects/512/512.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1cb199c310baf7fde8f78338ae615d051eb95d1a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/512/512.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob512">
+  <link name="random_obj_512">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1350"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="512.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.97 0.40 0.54 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="512_coll.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/512/512_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/512/512_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/512/512_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/512/512_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/512/512_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101a82fd10ea3dba919a851748f79429af5b372f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/512/512_coll.obj
@@ -0,0 +1,189 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/513/513.mtl b/external/rlbench/rlbench/assets/procedural_objects/513/513.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b2db0aadda8a4969513ff1d161468b362966819
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/513/513.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 513_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.283965 0.063724 0.077927
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 513.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/513/513.obj b/external/rlbench/rlbench/assets/procedural_objects/513/513.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a729f5e3e5ca3eb906084c801b5d297459eefa7f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/513/513.obj
@@ -0,0 +1,5561 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 513.mtl
+o 513_Cube.2072
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/513/513.png b/external/rlbench/rlbench/assets/procedural_objects/513/513.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/513/513.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/513/513.urdf b/external/rlbench/rlbench/assets/procedural_objects/513/513.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e7ad75a7eb9b030ec024e0e07cbeb029c19e114
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/513/513.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob513">
+  <link name="random_obj_513">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0754"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="513.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.64 0.28 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="513_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/513/513_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/513/513_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/513/513_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/513/513_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/513/513_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb56ed2dec68f1424847962e6a8539154239946
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/513/513_coll.obj
@@ -0,0 +1,1059 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/514/514.mtl b/external/rlbench/rlbench/assets/procedural_objects/514/514.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29193983dd9620621503cda3077cccb1a4f3f0f8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/514/514.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 514_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.300554 0.147225 0.368809
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 514.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/514/514.obj b/external/rlbench/rlbench/assets/procedural_objects/514/514.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43a9983571b827b5a7d3d6a2bf108f76856e5e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/514/514.obj
@@ -0,0 +1,6532 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 514.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/514/514.png b/external/rlbench/rlbench/assets/procedural_objects/514/514.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/514/514.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/514/514.urdf b/external/rlbench/rlbench/assets/procedural_objects/514/514.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b09db3e9b899cba0fff43b9e411091609c42e8b2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/514/514.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob514">
+  <link name="random_obj_514">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1338"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="514.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.42 0.84 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="514_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/514/514_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/514/514_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/514/514_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/514/514_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/514/514_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c46b57ee6681f9b11f00e4f29ff9056b0fb2a9e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/514/514_coll.obj
@@ -0,0 +1,189 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/515/515.mtl b/external/rlbench/rlbench/assets/procedural_objects/515/515.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..339bc5ef5b4e62d5de488feaf89c1b898bfa988a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/515/515.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 515_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
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+illum 2
+map_Kd 515.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/515/515.obj b/external/rlbench/rlbench/assets/procedural_objects/515/515.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdc08862e0d7cc303e9c287b1c2c5d12192498cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/515/515.obj
@@ -0,0 +1,591 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/515/515.png b/external/rlbench/rlbench/assets/procedural_objects/515/515.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/515/515.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/515/515.urdf b/external/rlbench/rlbench/assets/procedural_objects/515/515.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9242a397151a919171fab44fba4ceb4d0491b34d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/515/515.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob515">
+  <link name="random_obj_515">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1327"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="515.obj" scale="0.0102 0.0102 0.0102"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.73 0.65 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="515_coll.obj" scale="0.0102 0.0102 0.0102"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/515/515_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/515/515_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/515/515_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
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/515/515_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/515/515_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e548dde16e9f43b67a17192f289686ceb3a31f69
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/515/515_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/516/516.mtl b/external/rlbench/rlbench/assets/procedural_objects/516/516.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23450693fc13f2ff32f3f903cfc9c7d2ed8d3802
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/516/516.mtl
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+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/516/516.obj b/external/rlbench/rlbench/assets/procedural_objects/516/516.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465e11ca3043e51a5abd7fc38ac759e929a149ff
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/516/516.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/516/516.png b/external/rlbench/rlbench/assets/procedural_objects/516/516.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/516/516.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/516/516.urdf b/external/rlbench/rlbench/assets/procedural_objects/516/516.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d4fd9a23ecb641adb3fff2f58e9712e769232f0b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/516/516.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob516">
+  <link name="random_obj_516">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1262"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="516.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.28 0.80 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="516_coll.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/516/516_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/516/516_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/516/516_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/516/516_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/516/516_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6539a8d1bac31fa327642e2a13001a5eb876e6d7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/516/516_coll.obj
@@ -0,0 +1,903 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/517/517.mtl b/external/rlbench/rlbench/assets/procedural_objects/517/517.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0664e10adc6e189b2f0bdb60a0b7a346f659707
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/517/517.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 517_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 517.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/517/517.obj b/external/rlbench/rlbench/assets/procedural_objects/517/517.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748c1048fd2b976947da172c50a561036847d6d8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/517/517.obj
@@ -0,0 +1,5851 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/517/517.png b/external/rlbench/rlbench/assets/procedural_objects/517/517.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/517/517.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/517/517.urdf b/external/rlbench/rlbench/assets/procedural_objects/517/517.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4174f06d1607033629ee28c4f555055d909c26df
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/517/517.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob517">
+  <link name="random_obj_517">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0659"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="517.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.72 0.98 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="517_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/517/517_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/517/517_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/517/517_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/517/517_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/517/517_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a9748c2c44ee49f8f8adda39d0e56d3a45adb6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/517/517_coll.obj
@@ -0,0 +1,1179 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/518/518.mtl b/external/rlbench/rlbench/assets/procedural_objects/518/518.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0908959c584c7cc995e12022041d2cabbaa576e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/518/518.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 518_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.225648 0.028085 0.069257
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 518.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/518/518.obj b/external/rlbench/rlbench/assets/procedural_objects/518/518.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755e5dfe0c2b357fcbbdf17093a8ec867dab4d25
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/518/518.obj
@@ -0,0 +1,5388 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 518.mtl
+o 518_Cube.2092
+v -0.294652 5.239168 2.044229
+v -0.264810 5.518129 2.039067
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/518/518.png b/external/rlbench/rlbench/assets/procedural_objects/518/518.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/518/518.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/518/518.urdf b/external/rlbench/rlbench/assets/procedural_objects/518/518.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d9d7ce51e3bc762d161e26702a5f6b1574f55a0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/518/518.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob518">
+  <link name="random_obj_518">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0954"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="518.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.22 0.99 0.76 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="518_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/518/518_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/518/518_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/518/518_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/518/518_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/518/518_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1321a08b1aabfba8696959f0301bae0f29aa3e77
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/518/518_coll.obj
@@ -0,0 +1,1332 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/519/519.mtl b/external/rlbench/rlbench/assets/procedural_objects/519/519.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..075e474d78bbcfe90ab311a6b0bf61b4f607f099
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/519/519.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 519_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.168059 0.433513 0.651911
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 519.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/519/519.obj b/external/rlbench/rlbench/assets/procedural_objects/519/519.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf55ccbc3ab426fface3b363b8522d9556a0e34b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/519/519.obj
@@ -0,0 +1,287 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 519.mtl
+o 519_Cube.2096
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/519/519.png b/external/rlbench/rlbench/assets/procedural_objects/519/519.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/519/519.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/519/519.urdf b/external/rlbench/rlbench/assets/procedural_objects/519/519.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e1e1e93fd918d5037b6245cbaaf46f6d27771ec1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/519/519.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob519">
+  <link name="random_obj_519">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1227"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="519.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.10 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="519_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/519/519_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/519/519_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/519/519_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/519/519_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/519/519_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04e407cefee921f7e3cf1c2fa57420dc86f415b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/519/519_coll.obj
@@ -0,0 +1,795 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/520/520.mtl b/external/rlbench/rlbench/assets/procedural_objects/520/520.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..590714a93796ae770ebd07fdda25143969caef3d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/520/520.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 520_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.651811 0.556057 0.309239
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 520.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/520/520.obj b/external/rlbench/rlbench/assets/procedural_objects/520/520.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e3067507e17fc565840597d89d08d469fa31c5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/520/520.obj
@@ -0,0 +1,273 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 520.mtl
+o 520_Cube.2099
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+usemtl 520_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/520/520.png b/external/rlbench/rlbench/assets/procedural_objects/520/520.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/520/520.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/520/520.urdf b/external/rlbench/rlbench/assets/procedural_objects/520/520.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1aa3ef056ea7d4d902724571e3b939c153305071
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/520/520.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob520">
+  <link name="random_obj_520">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1127"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="520.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.03 0.51 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="520_coll.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/520/520_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/520/520_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/520/520_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/520/520_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/520/520_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcab523d9e58179dfebafd80d341bb29e8550fd1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/520/520_coll.obj
@@ -0,0 +1,669 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/521/521.mtl b/external/rlbench/rlbench/assets/procedural_objects/521/521.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae4028f7f0b611bf1c627e8c5c30f4e719a0e8df
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/521/521.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 521_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.513771 0.068578 0.444700
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 521.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/521/521.obj b/external/rlbench/rlbench/assets/procedural_objects/521/521.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef937373c3d6e4b1988bf24f07616f71760f7f30
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/521/521.obj
@@ -0,0 +1,5473 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 521.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/521/521.png b/external/rlbench/rlbench/assets/procedural_objects/521/521.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/521/521.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/521/521.urdf b/external/rlbench/rlbench/assets/procedural_objects/521/521.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b1dea213eb130c60701fd323e904ae85eb39ba88
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/521/521.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob521">
+  <link name="random_obj_521">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1256"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="521.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.41 0.45 0.35 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="521_coll.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/521/521_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/521/521_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/521/521_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/521/521_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/521/521_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1b5f8f25ec8469a77765bda1b81024471c58f9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/521/521_coll.obj
@@ -0,0 +1,1323 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/522/522.mtl b/external/rlbench/rlbench/assets/procedural_objects/522/522.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2667e1f51ae7ce1e08d617382984c168d5a7fd1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/522/522.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 522_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.483444 0.761106 0.310914
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 522.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/522/522.obj b/external/rlbench/rlbench/assets/procedural_objects/522/522.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9dfedf6f6cd39e06932ca2e93177309bf2627f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/522/522.obj
@@ -0,0 +1,5972 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 522.mtl
+o 522_Cube.2108
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/522/522.png b/external/rlbench/rlbench/assets/procedural_objects/522/522.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/522/522.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/522/522.urdf b/external/rlbench/rlbench/assets/procedural_objects/522/522.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d110d97f041ad8c6498f5842afe0665f9f2cbe8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/522/522.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob522">
+  <link name="random_obj_522">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0590"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="522.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.90 0.23 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="522_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/522/522_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/522/522_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/522/522_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/522/522_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/522/522_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d3d5ccc21e796dc40ba9fcca5220c9dd2b1b2b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/522/522_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/523/523.mtl b/external/rlbench/rlbench/assets/procedural_objects/523/523.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..392bf7e65aae26aae9288df10b135205985c8871
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/523/523.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 523_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.188172 0.401404 0.748290
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 523.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/523/523.obj b/external/rlbench/rlbench/assets/procedural_objects/523/523.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3426d67601edfb40cc5644148c46fcdfdc760765
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/523/523.obj
@@ -0,0 +1,4617 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 523.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/523/523.png b/external/rlbench/rlbench/assets/procedural_objects/523/523.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/523/523.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/523/523.urdf b/external/rlbench/rlbench/assets/procedural_objects/523/523.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cdcd72c6937315355d18d4ec98a65c4cb99ede31
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/523/523.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob523">
+  <link name="random_obj_523">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0852"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="523.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.65 0.72 0.85 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="523_coll.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/523/523_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/523/523_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/523/523_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/523/523_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/523/523_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a04cf46b9b187b8187b73a5ad4eca1bd1c19bf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/523/523_coll.obj
@@ -0,0 +1,189 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/524/524.mtl b/external/rlbench/rlbench/assets/procedural_objects/524/524.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f343043c187c7c234832ee68adff4edf3b7f878
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/524/524.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 524_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.110736 0.426565 0.415397
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 524.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/524/524.obj b/external/rlbench/rlbench/assets/procedural_objects/524/524.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ad3fb30747f035e225826439c1f0745cce3c5d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/524/524.obj
@@ -0,0 +1,5261 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 524.mtl
+o 524_Cube.2114
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/524/524.png b/external/rlbench/rlbench/assets/procedural_objects/524/524.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/524/524.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/524/524.urdf b/external/rlbench/rlbench/assets/procedural_objects/524/524.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3fcf04c57019af1cbd2cce2ae75713eb7bd2b9c7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/524/524.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob524">
+  <link name="random_obj_524">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0409"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="524.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.25 0.51 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="524_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/524/524_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/524/524_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/524/524_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/524/524_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/524/524_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff853d6d19ad6a34dcf110f94c3a2f0af92a261d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/524/524_coll.obj
@@ -0,0 +1,1317 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/525/525.mtl b/external/rlbench/rlbench/assets/procedural_objects/525/525.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16d5328ab6fd6c8e86c02d388f5b7ba7fee23716
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/525/525.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 525_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.598034 0.490627 0.169088
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 525.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/525/525.obj b/external/rlbench/rlbench/assets/procedural_objects/525/525.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b32b728313f2ac9a989291653bf307b60f6d5114
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/525/525.obj
@@ -0,0 +1,304 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 525.mtl
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+usemtl 525_mtl
+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/525/525.png b/external/rlbench/rlbench/assets/procedural_objects/525/525.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/525/525.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/525/525.urdf b/external/rlbench/rlbench/assets/procedural_objects/525/525.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8719f260f99a7c6050741299a26a4810b57cecd2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/525/525.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob525">
+  <link name="random_obj_525">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0962"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="525.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.58 0.25 0.20 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="525_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/525/525_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/525/525_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/525/525_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/525/525_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/525/525_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e263dd1c6823dab23d55a4fc49a67348a7e6c9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/525/525_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/526/526.mtl b/external/rlbench/rlbench/assets/procedural_objects/526/526.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2760bc380c977c44c93daee0299d4019be95ac02
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/526/526.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 526_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.275987 0.566516 0.595298
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 526.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/526/526.obj b/external/rlbench/rlbench/assets/procedural_objects/526/526.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03cc903f30027d7e1359d61120e2da7ca5a70dd6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/526/526.obj
@@ -0,0 +1,2465 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/526/526.png b/external/rlbench/rlbench/assets/procedural_objects/526/526.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/526/526.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/526/526.urdf b/external/rlbench/rlbench/assets/procedural_objects/526/526.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4aa2846589193ad798b7d35d2a2c7aafe164d495
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/526/526.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob526">
+  <link name="random_obj_526">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0411"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="526.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.43 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="526_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/526/526_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/526/526_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/526/526_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/526/526_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/526/526_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293e0db0b98dd47f2a5a0dd77c17744a8b8f8fcb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/526/526_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/527/527.mtl b/external/rlbench/rlbench/assets/procedural_objects/527/527.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ad2efbf5505b645dbec272215997ab257d54608
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/527/527.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 527_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 527.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/527/527.obj b/external/rlbench/rlbench/assets/procedural_objects/527/527.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b181290510ec98901ff103e08dec0f9357b4a971
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/527/527.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/527/527.png b/external/rlbench/rlbench/assets/procedural_objects/527/527.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/527/527.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/527/527.urdf b/external/rlbench/rlbench/assets/procedural_objects/527/527.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1726ca5a36df4ebd6fcc4c0735a093ddcfda195e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/527/527.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob527">
+  <link name="random_obj_527">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0934"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="527.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.80 0.94 0.61 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="527_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/527/527_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/527/527_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/527/527_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/527/527_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/527/527_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a922745cba624b90ce8bc2ec8ebb2f007c18381
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/527/527_coll.obj
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+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/528/528.mtl b/external/rlbench/rlbench/assets/procedural_objects/528/528.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..633277f7d240cae74e2d363b2d9d199f9d3891b8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/528/528.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 528_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.167678 0.554909 0.424363
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 528.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/528/528.obj b/external/rlbench/rlbench/assets/procedural_objects/528/528.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab0e87c8787a0f0db194bfb4ea71d3c7afc9fed
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/528/528.obj
@@ -0,0 +1,755 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/528/528.png b/external/rlbench/rlbench/assets/procedural_objects/528/528.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/528/528.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/528/528.urdf b/external/rlbench/rlbench/assets/procedural_objects/528/528.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..747ade2764e456244d5486f6b80b3aad915a765e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/528/528.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob528">
+  <link name="random_obj_528">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1148"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="528.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.29 0.55 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="528_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/528/528_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/528/528_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/528/528_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/528/528_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/528/528_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cb6ca393b8d4bbe500e9d32659240ddefa10219
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/528/528_coll.obj
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+v -0.078151 1.713238 -2.464159
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/529/529.mtl b/external/rlbench/rlbench/assets/procedural_objects/529/529.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c00dadc96b1823f1e60343cb7f3473096b4701b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/529/529.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/529/529.obj b/external/rlbench/rlbench/assets/procedural_objects/529/529.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90463ca9ee560f23ee3f90baf2e73039f10175a6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/529/529.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/529/529.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/529/529.urdf b/external/rlbench/rlbench/assets/procedural_objects/529/529.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..838be01ade05513dbb53496e738ae6bb7132e28a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/529/529.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob529">
+  <link name="random_obj_529">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1018"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="529.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.00 0.63 0.73 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="529_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/529/529_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/529/529_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/529/529_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/529/529_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/529/529_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eddf2605c4f550fffc4d1265b2f400884de4b222
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/529/529_coll.obj
@@ -0,0 +1,885 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/530/530.mtl b/external/rlbench/rlbench/assets/procedural_objects/530/530.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d2a29a50d0df1a133b0f114f0a2cf200a9e0c490
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/530/530.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 530_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.231038 0.076369 0.254468
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 530.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/530/530.obj b/external/rlbench/rlbench/assets/procedural_objects/530/530.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c8d4ff15c95cd0b0150f2b6779e2014870d7a4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/530/530.obj
@@ -0,0 +1,5114 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/530/530.png b/external/rlbench/rlbench/assets/procedural_objects/530/530.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/530/530.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/530/530.urdf b/external/rlbench/rlbench/assets/procedural_objects/530/530.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71e65bf0cfa4b7366299050672ab4996e1e68cde
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/530/530.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob530">
+  <link name="random_obj_530">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0992"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="530.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.75 0.77 0.21 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="530_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/530/530_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/530/530_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/530/530_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/530/530_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/530/530_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39eee8ea9def11d9d2cde310a36e777efa8cb4ed
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/530/530_coll.obj
@@ -0,0 +1,1152 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/531/531.mtl b/external/rlbench/rlbench/assets/procedural_objects/531/531.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bea419e9d8f66abc27c2e6529398dbf0aab8546
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/531/531.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 531_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.257047 0.084435 0.070531
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 531.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/531/531.obj b/external/rlbench/rlbench/assets/procedural_objects/531/531.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca3c6a7e6b77f2094031c2efc41b94b852f50d9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/531/531.obj
@@ -0,0 +1,159 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 531.mtl
+o 531_Cube.2143
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/531/531.png b/external/rlbench/rlbench/assets/procedural_objects/531/531.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/531/531.urdf b/external/rlbench/rlbench/assets/procedural_objects/531/531.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9218e548da75464f431cc392649cd0ac6ac868c9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/531/531.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob531">
+  <link name="random_obj_531">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1066"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="531.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.38 0.14 0.21 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="531_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/531/531_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/531/531_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/531/531_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/531/531_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/531/531_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c304413e8466d152d95d1c54fb739b866976347
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/531/531_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/532/532.mtl b/external/rlbench/rlbench/assets/procedural_objects/532/532.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dec764e7083a8211daa2634297a4c7645ac1ded
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/532/532.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/532/532.obj b/external/rlbench/rlbench/assets/procedural_objects/532/532.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2589b6bbdf1cd72cea6daa9a7fe0930688c5ca3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/532/532.obj
@@ -0,0 +1,1325 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/532/532.png b/external/rlbench/rlbench/assets/procedural_objects/532/532.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/532/532.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/532/532.urdf b/external/rlbench/rlbench/assets/procedural_objects/532/532.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..80582c769b3467dcd1793b5bda2dc6cf3195da6f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/532/532.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob532">
+  <link name="random_obj_532">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1018"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="532.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.91 0.70 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="532_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/532/532_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/532/532_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/532/532_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/532/532_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/532/532_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..634aa98831f8698a71162706bec9c241217df6af
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/532/532_coll.obj
@@ -0,0 +1,945 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/533/533.mtl b/external/rlbench/rlbench/assets/procedural_objects/533/533.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2ce5d142ae7636ad9f13065c34d76a54f2b1c75
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/533/533.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 533_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.210288 0.285444 0.484816
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 533.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/533/533.obj b/external/rlbench/rlbench/assets/procedural_objects/533/533.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3fc4ac5bf4a6c39dde63e16c415db4969dfe79f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/533/533.obj
@@ -0,0 +1,5381 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/533/533.png b/external/rlbench/rlbench/assets/procedural_objects/533/533.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/533/533.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/533/533.urdf b/external/rlbench/rlbench/assets/procedural_objects/533/533.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dbbf0b070f5708c4601637380cb0630afc1ffc25
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/533/533.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob533">
+  <link name="random_obj_533">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1520"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="533.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.76 0.61 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="533_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/533/533_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/533/533_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/533/533_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/533/533_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/533/533_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72917dfc47e8edb4a7e14187e8f3a62aa0fb754a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/533/533_coll.obj
@@ -0,0 +1,1218 @@
+o convex_0
+v 0.436451 -0.480333 1.322445
+v -0.591111 0.394412 0.675721
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+v 1.082568 0.394412 0.713862
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+v 0.512331 1.459966 0.675721
+v 0.246296 -0.366118 1.360519
+v -0.324622 2.030702 0.713862
+v 1.729821 -1.393374 0.713862
+v 0.930580 -1.431672 1.056127
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/534/534.mtl b/external/rlbench/rlbench/assets/procedural_objects/534/534.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4514b1589865fa25e8dfccd89515dff902c9cb86
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/534/534.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 534_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.707953 0.511924 0.014801
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 534.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/534/534.obj b/external/rlbench/rlbench/assets/procedural_objects/534/534.obj
new file mode 100644
index 0000000000000000000000000000000000000000..631206d33a9a006564158412a85afaaf43170066
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/534/534.obj
@@ -0,0 +1,475 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 534.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/534/534.png b/external/rlbench/rlbench/assets/procedural_objects/534/534.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/534/534.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/534/534.urdf b/external/rlbench/rlbench/assets/procedural_objects/534/534.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..878c97801d4c3aac3442845ba32c948adbdc7fba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/534/534.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob534">
+  <link name="random_obj_534">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0200"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="534.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.70 0.97 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="534_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/534/534_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/534/534_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/534/534_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
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/534/534_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/534/534_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e307ab27cab07276bf345fd55537cae3683a3b35
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/535/535.mtl b/external/rlbench/rlbench/assets/procedural_objects/535/535.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9987afa7805608d7bc38fe855016c1f06ebab992
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/535/535.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 535_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.441565 0.105406 0.327692
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 535.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/535/535.obj b/external/rlbench/rlbench/assets/procedural_objects/535/535.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b202e881ef64527adb6380a27be919c6d950b45c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/535/535.obj
@@ -0,0 +1,4925 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/535/535.png b/external/rlbench/rlbench/assets/procedural_objects/535/535.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/535/535.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/535/535.urdf b/external/rlbench/rlbench/assets/procedural_objects/535/535.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a98d6794add2dbfbf5ca935ace2f493238a3dbb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/535/535.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob535">
+  <link name="random_obj_535">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0885"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="535.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.93 0.96 0.86 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="535_coll.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/535/535_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/535/535_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/535/535_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/535/535_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/535/535_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4fbfb0ee607acf160ec173444bdea2e3921b58
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/535/535_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/536/536.mtl b/external/rlbench/rlbench/assets/procedural_objects/536/536.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d76f2ce0d886e68f2fb05905966998bac81bbb19
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/536/536.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 536_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.170308 0.081420 0.261413
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 536.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/536/536.obj b/external/rlbench/rlbench/assets/procedural_objects/536/536.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1853d1162af6b332055fa5d22ab11ea259942d4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/536/536.obj
@@ -0,0 +1,3177 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/536/536.png b/external/rlbench/rlbench/assets/procedural_objects/536/536.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/536/536.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/536/536.urdf b/external/rlbench/rlbench/assets/procedural_objects/536/536.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..79cb2440afe3e93c6236f413876c14e609724077
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/536/536.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob536">
+  <link name="random_obj_536">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0628"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="536.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.88 0.81 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="536_coll.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/536/536_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/536/536_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/536/536_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/536/536_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/536/536_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafdb70a6adae88d33f3a7ce6a5fdbe72c3e4a0e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/537/537.mtl b/external/rlbench/rlbench/assets/procedural_objects/537/537.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d90c4ba4614d5185af6b68473f6043d4ee988dc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/537/537.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 537_mtl
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+Ks 0.500000 0.500000 0.500000
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+illum 2
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/537/537.obj b/external/rlbench/rlbench/assets/procedural_objects/537/537.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91791b3cf52b48e73a2b459de7887cd42149c638
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/537/537.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/537/537.png b/external/rlbench/rlbench/assets/procedural_objects/537/537.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/537/537.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/537/537.urdf b/external/rlbench/rlbench/assets/procedural_objects/537/537.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..652e1482692dba1eea9f1c7c37c1ed0c082b37db
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/537/537.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob537">
+  <link name="random_obj_537">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1360"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="537.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.66 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="537_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/537/537_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/537/537_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/537/537_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/537/537_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/537/537_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5e00a1452f1254eeeb68711bb909a9b1835b3d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/537/537_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/538/538.mtl b/external/rlbench/rlbench/assets/procedural_objects/538/538.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5bd80bb384cd4964fe66301921419ae82f10109c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/538/538.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 538_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.019423 0.493603 0.197155
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 538.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/538/538.obj b/external/rlbench/rlbench/assets/procedural_objects/538/538.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01b33199c998e3d2d33a3e3128485e304d01390
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/538/538.obj
@@ -0,0 +1,5143 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/538/538.png b/external/rlbench/rlbench/assets/procedural_objects/538/538.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/538/538.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/538/538.urdf b/external/rlbench/rlbench/assets/procedural_objects/538/538.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8513c6306381b651dc9692cb086362724944dcee
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/538/538.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob538">
+  <link name="random_obj_538">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0469"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="538.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.02 0.53 0.63 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="538_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/538/538_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/538/538_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/538/538_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/538/538_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/538/538_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7cebf5a04794db673203bd937e9c55e33e7183
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/538/538_coll.obj
@@ -0,0 +1,378 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/539/539.mtl b/external/rlbench/rlbench/assets/procedural_objects/539/539.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa9f6c86064d9ca497fa3fcdfc19ec6f53a889b1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/539/539.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 539_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.736828 0.169947 0.303615
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 539.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/539/539.obj b/external/rlbench/rlbench/assets/procedural_objects/539/539.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed7918f6da24c1e86df6c2e5b7066a30fd17b31
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/539/539.obj
@@ -0,0 +1,5246 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 539.mtl
+o 539_Cube.2175
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/539/539.png b/external/rlbench/rlbench/assets/procedural_objects/539/539.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/539/539.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/539/539.urdf b/external/rlbench/rlbench/assets/procedural_objects/539/539.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..600bf2b5a6dad02e9d1c0531397d3a2ff25f9240
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/539/539.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob539">
+  <link name="random_obj_539">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0637"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="539.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.85 0.27 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="539_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/539/539_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/539/539_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/539/539_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/539/539_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/539/539_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fda07c08405877b9d02c3807750f385626c786e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/539/539_coll.obj
@@ -0,0 +1,1500 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/540/540.mtl b/external/rlbench/rlbench/assets/procedural_objects/540/540.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dcb3ff45f9c69cf624bd6a09bb5a140c121cef1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/540/540.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 540_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/540/540.obj b/external/rlbench/rlbench/assets/procedural_objects/540/540.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a4e57d0de52a7c49081860698d6147cdc4f283
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/540/540.png b/external/rlbench/rlbench/assets/procedural_objects/540/540.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/540/540.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/540/540.urdf b/external/rlbench/rlbench/assets/procedural_objects/540/540.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53849518a23c436af528e1b25a80ad56f1ce8e4f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/540/540.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob540">
+  <link name="random_obj_540">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1059"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="540.obj" scale="0.0102 0.0102 0.0102"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.10 0.16 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="540_coll.obj" scale="0.0102 0.0102 0.0102"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/540/540_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/540/540_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/540/540_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/540/540_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/540/540_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d703a91151303e94503a814cd209b472cac33e0f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/540/540_coll.obj
@@ -0,0 +1,501 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/541/541.mtl b/external/rlbench/rlbench/assets/procedural_objects/541/541.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2fff40984b83d277ccfd428ffc673de0c32b1ba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/541/541.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/541/541.obj b/external/rlbench/rlbench/assets/procedural_objects/541/541.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3e7761a15ecadc10fcffc8525a72892ae71f12
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/541/541.obj
@@ -0,0 +1,5135 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/541/541.png b/external/rlbench/rlbench/assets/procedural_objects/541/541.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/541/541.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/541/541.urdf b/external/rlbench/rlbench/assets/procedural_objects/541/541.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5f8a1128aa29eba83ca9ce0c378f23b891777a1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/541/541.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob541">
+  <link name="random_obj_541">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1360"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="541.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.31 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="541_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/541/541_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/541/541_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/541/541_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/541/541_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/541/541_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96151a0954a84287e4ecf0d2d8ca697155477b52
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/541/541_coll.obj
@@ -0,0 +1,1200 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/542/542.mtl b/external/rlbench/rlbench/assets/procedural_objects/542/542.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f51b4a1555857167b36618c43000cb36db3e4279
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/542/542.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 542_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.765238 0.473201 0.220116
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 542.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/542/542.obj b/external/rlbench/rlbench/assets/procedural_objects/542/542.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1fffb3cabdde9c629d62a1f8d58ab199ac1ddd9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/542/542.obj
@@ -0,0 +1,659 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 542.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/542/542.png b/external/rlbench/rlbench/assets/procedural_objects/542/542.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/542/542.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/542/542.urdf b/external/rlbench/rlbench/assets/procedural_objects/542/542.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..099479e7ae784197866ed5222eb506dd4eed52d4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/542/542.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob542">
+  <link name="random_obj_542">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0848"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="542.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.59 0.37 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="542_coll.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/542/542_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/542/542_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/542/542_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/542/542_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/542/542_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4548124ca4179cc434b835e3e136f70607b764f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/542/542_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/543/543.mtl b/external/rlbench/rlbench/assets/procedural_objects/543/543.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b59bf028e9565bd496553b2ef5517c136c9d0a7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/543/543.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 543_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.130875 0.245769 0.113531
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 543.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/543/543.obj b/external/rlbench/rlbench/assets/procedural_objects/543/543.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f6eef0e54bb344b95d5c0ef474dd28a823b99d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/543/543.obj
@@ -0,0 +1,771 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 543.mtl
+o 543_Cube.2192
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/543/543.png b/external/rlbench/rlbench/assets/procedural_objects/543/543.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/543/543.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/543/543.urdf b/external/rlbench/rlbench/assets/procedural_objects/543/543.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1f64ceeb112b2a1f599e0e45d893ed0f49b2613
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/543/543.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob543">
+  <link name="random_obj_543">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1201"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="543.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.76 0.86 0.98 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="543_coll.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/543/543_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/543/543_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/543/543_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/543/543_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/543/543_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135ef35dd622cf6aed836c3a04cd2525a4ec9a80
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/543/543_coll.obj
@@ -0,0 +1,372 @@
+o convex_0
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+o convex_2
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+o convex_3
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/544/544.mtl b/external/rlbench/rlbench/assets/procedural_objects/544/544.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69a2eaddbd6a94b392fe3a61f52dc4b0bf5ba1b1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/544/544.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 544_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.290314 0.112865 0.336351
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 544.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/544/544.obj b/external/rlbench/rlbench/assets/procedural_objects/544/544.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14061b6485b6059f658f14f2e643e37aa59c6686
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/544/544.obj
@@ -0,0 +1,1679 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 544.mtl
+o 544_Cube.2195
+v -0.360323 5.047720 -0.618965
+v -0.360791 4.643879 -1.199775
+v -0.358126 5.691880 0.219059
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/544/544.png b/external/rlbench/rlbench/assets/procedural_objects/544/544.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/544/544.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/544/544.urdf b/external/rlbench/rlbench/assets/procedural_objects/544/544.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d96ccaf5633d7eeb5fddc494095d662572531b43
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/544/544.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob544">
+  <link name="random_obj_544">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0989"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="544.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.57 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="544_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/544/544_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/544/544_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/544/544_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/544/544_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/544/544_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f2cf02156fbe409074de25ad85d1c4bbb80763
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/544/544_coll.obj
@@ -0,0 +1,1041 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/545/545.mtl b/external/rlbench/rlbench/assets/procedural_objects/545/545.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..03108de65d8fe0870d2f1e2bf28d36d6e3ede9b2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/545/545.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 545_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.081355 0.391184 0.081041
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 545.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/545/545.obj b/external/rlbench/rlbench/assets/procedural_objects/545/545.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64479c7f2925addd32074e1a650fed2099057e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/545/545.obj
@@ -0,0 +1,672 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 545.mtl
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+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0935"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="545.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.55 0.84 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="545_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/545/545_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/545/545_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/545/545_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/545/545_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/545/545_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db23fd2e3dcb13fa3333c3ded869d7951b5649db
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/545/545_coll.obj
@@ -0,0 +1,1251 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/546/546.mtl b/external/rlbench/rlbench/assets/procedural_objects/546/546.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33d1be8ced0905409c520ae4407f67b6c6d26a75
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/546/546.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 546_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.020918 0.188879 0.694531
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 546.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/546/546.obj b/external/rlbench/rlbench/assets/procedural_objects/546/546.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853cf262ad87365dc9f95db733a647d14d008caa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/546/546.obj
@@ -0,0 +1,6056 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 546.mtl
+o 546_Cube.2203
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/546/546.png b/external/rlbench/rlbench/assets/procedural_objects/546/546.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/546/546.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/546/546.urdf b/external/rlbench/rlbench/assets/procedural_objects/546/546.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82314781c19ce9ba7269aa56a8013479d3aa3f1f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/546/546.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob546">
+  <link name="random_obj_546">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0670"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="546.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.17 0.24 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="546_coll.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/546/546_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/546/546_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/546/546_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/546/546_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/546/546_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b875961c9356b0776f579194f2b1eaddb2b2dcf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/546/546_coll.obj
@@ -0,0 +1,1098 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/547/547.mtl b/external/rlbench/rlbench/assets/procedural_objects/547/547.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0d5c19d62db53027c1b2b0db81d1967be7d4192
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/547/547.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 547_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 547.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/547/547.obj b/external/rlbench/rlbench/assets/procedural_objects/547/547.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b1899740805bc09222b7a0258ce1bbf19c8e6a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/547/547.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/547/547.png b/external/rlbench/rlbench/assets/procedural_objects/547/547.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/547/547.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/547/547.urdf b/external/rlbench/rlbench/assets/procedural_objects/547/547.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..12bd9a52d7288c43c4b263442ec1b2b1c43ff5bb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/547/547.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob547">
+  <link name="random_obj_547">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1026"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="547.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.31 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="547_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/547/547_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/547/547_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/547/547_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/547/547_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/547/547_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c1e80847ca591b3aa588b1ff2bd07e57d696ef
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/547/547_coll.obj
@@ -0,0 +1,1086 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/548/548.mtl b/external/rlbench/rlbench/assets/procedural_objects/548/548.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d274e799aaac02683ce1b371de914f707864601
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/548/548.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 548_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.357278 0.157008 0.264411
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 548.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/548/548.obj b/external/rlbench/rlbench/assets/procedural_objects/548/548.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a540f42af169754bed53652c2157f4cb401e42
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/548/548.obj
@@ -0,0 +1,1145 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/548/548.png b/external/rlbench/rlbench/assets/procedural_objects/548/548.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/548/548.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/548/548.urdf b/external/rlbench/rlbench/assets/procedural_objects/548/548.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01c6134b32c8ecc8e1fb9283e9e35e936a0eef75
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/548/548.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob548">
+  <link name="random_obj_548">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1060"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="548.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.42 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="548_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/548/548_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/548/548_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/548/548_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/548/548_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/548/548_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c918ee4a85311f1fddd3bed8b48218b12a2dbf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/548/548_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/549/549.mtl b/external/rlbench/rlbench/assets/procedural_objects/549/549.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..642ce80547d2830ec41638c0cc47537f645e887f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/549/549.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 549_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.737429 0.213999 0.618665
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 549.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/549/549.obj b/external/rlbench/rlbench/assets/procedural_objects/549/549.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88439b7751b822e40ad4875517106282c678a2f9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/549/549.obj
@@ -0,0 +1,1630 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/549/549.png b/external/rlbench/rlbench/assets/procedural_objects/549/549.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/549/549.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/549/549.urdf b/external/rlbench/rlbench/assets/procedural_objects/549/549.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d72c089049ff9d08e252e3af5c4cb7e592c4edb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/549/549.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob549">
+  <link name="random_obj_549">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1192"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="549.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.68 0.42 0.07 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="549_coll.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/549/549_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/549/549_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/549/549_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/549/549_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/549/549_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3342970a5ef4d8e60e066673d4491e248b50d8bc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/549/549_coll.obj
@@ -0,0 +1,1086 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/550/550.mtl b/external/rlbench/rlbench/assets/procedural_objects/550/550.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b9a4cd287f06528a96972645c3fc703f708bdc8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/550/550.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 550_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.165589 0.039759 0.242216
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 550.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/550/550.obj b/external/rlbench/rlbench/assets/procedural_objects/550/550.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2084682bb03e5410c2c90dfb4b6823e2a787b5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/550/550.obj
@@ -0,0 +1,145 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 550.mtl
+o 550_Cube.2219
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/550/550.png b/external/rlbench/rlbench/assets/procedural_objects/550/550.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/550/550.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/550/550.urdf b/external/rlbench/rlbench/assets/procedural_objects/550/550.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7471f9c0f983552a3d0569fd4a9faa7b9177d7e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/550/550.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob550">
+  <link name="random_obj_550">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1729"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="550.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.13 0.03 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="550_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/550/550_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/550/550_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/550/550_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/550/550_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/550/550_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adf9115fd78183367cf0bef6903f5070a57a6a4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/550/550_coll.obj
@@ -0,0 +1,240 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/551/551.mtl b/external/rlbench/rlbench/assets/procedural_objects/551/551.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d3c32ede96779005081092953f4685baad5b326f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/551/551.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 551_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.314948 0.631744 0.751031
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 551.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/551/551.obj b/external/rlbench/rlbench/assets/procedural_objects/551/551.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a2446babf02b83d60c9987d38bf828f2cb03f6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/551/551.obj
@@ -0,0 +1,511 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 551.mtl
+o 551_Cube.2222
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/551/551.png b/external/rlbench/rlbench/assets/procedural_objects/551/551.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/551/551.urdf b/external/rlbench/rlbench/assets/procedural_objects/551/551.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df5aed7cd213cbce8d16314858798b7e31ed24dd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/551/551.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob551">
+  <link name="random_obj_551">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0902"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="551.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.93 0.01 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="551_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/551/551_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/551/551_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/551/551_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+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/551/551_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/551/551_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85330df6948da4c49bf9b7768c49d945d48bdf8
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/552/552.mtl b/external/rlbench/rlbench/assets/procedural_objects/552/552.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e827cea12ba505f0b18df81d8ea828b0bbdeed6d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/552/552.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 552_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.228455 0.452787 0.530146
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 552.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/552/552.obj b/external/rlbench/rlbench/assets/procedural_objects/552/552.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714dbbe0b65867598186ebb00639ab0186ba6bb7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/552/552.obj
@@ -0,0 +1,2413 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 552.mtl
+o 552_Cube.2227
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/552/552.png b/external/rlbench/rlbench/assets/procedural_objects/552/552.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/552/552.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/552/552.urdf b/external/rlbench/rlbench/assets/procedural_objects/552/552.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16218d768f887fcddabb5f7d4825f2e08d94c5bf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/552/552.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob552">
+  <link name="random_obj_552">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1165"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="552.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.83 0.20 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="552_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/552/552_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/552/552_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/552/552_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/552/552_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/552/552_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118fb09b69e5ab780b28d32f23bec97f6ecdb3ad
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/552/552_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/553/553.mtl b/external/rlbench/rlbench/assets/procedural_objects/553/553.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d0beeb79bd0a82119186d758f43cfb0b5f5a69d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/553/553.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 553_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.020178 0.254813 0.246731
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 553.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/553/553.obj b/external/rlbench/rlbench/assets/procedural_objects/553/553.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f72713fb84e21c345561d13a92b5d60fd398e0c7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/553/553.obj
@@ -0,0 +1,198 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 553.mtl
+o 553_Cube.2230
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/553/553.png b/external/rlbench/rlbench/assets/procedural_objects/553/553.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/553/553.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/553/553.urdf b/external/rlbench/rlbench/assets/procedural_objects/553/553.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa873d4ed27ae78c46f5987d7ad80622f4becf37
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/553/553.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob553">
+  <link name="random_obj_553">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1252"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="553.obj" scale="0.0053 0.0053 0.0053"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.72 0.36 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="553_coll.obj" scale="0.0053 0.0053 0.0053"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/553/553_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/553/553_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/553/553_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/553/553_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/553/553_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19844752b8bffddaee1aeeaa6e5c2682b1613e32
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/553/553_coll.obj
@@ -0,0 +1,312 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/554/554.mtl b/external/rlbench/rlbench/assets/procedural_objects/554/554.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..815d542373f00ef0256e1d93b6bf590f37c5f9e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/554/554.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/554/554.obj b/external/rlbench/rlbench/assets/procedural_objects/554/554.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397e3e93c039785ffa40b583f68adfc26b596a37
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/554/554.png b/external/rlbench/rlbench/assets/procedural_objects/554/554.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/554/554.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/554/554.urdf b/external/rlbench/rlbench/assets/procedural_objects/554/554.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71bb28b0b73a723cd793bcff6663bfff52757e7b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/554/554.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob554">
+  <link name="random_obj_554">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1145"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="554.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.79 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="554_coll.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/554/554_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/554/554_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/554/554_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/554/554_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/554/554_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db829fcd7732234a0e87ce2bcecf3c10e1e57112
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/554/554_coll.obj
@@ -0,0 +1,861 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/555/555.mtl b/external/rlbench/rlbench/assets/procedural_objects/555/555.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..301c29415efa570eced6e60c0746214c6347e588
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/555/555.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 555_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.103118 0.358687 0.304475
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 555.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/555/555.obj b/external/rlbench/rlbench/assets/procedural_objects/555/555.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9e73ac25c3fc2a2489ea5d6fa03b5849a80761
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/555/555.obj
@@ -0,0 +1,870 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/555/555.png b/external/rlbench/rlbench/assets/procedural_objects/555/555.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/555/555.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/555/555.urdf b/external/rlbench/rlbench/assets/procedural_objects/555/555.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1b3b59b3ba09ed7c50617fc8300fc2626f5f7b3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/555/555.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob555">
+  <link name="random_obj_555">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1030"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="555.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.08 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="555_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/555/555_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/555/555_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/555/555_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/555/555_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/555/555_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e31f8e4fce602edf9b7add1cda576445f4ec139
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/555/555_coll.obj
@@ -0,0 +1,1017 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/556/556.mtl b/external/rlbench/rlbench/assets/procedural_objects/556/556.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..069c95ba4081bd2b6325484d5463b1814dd797a4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/556/556.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 556_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.029294 0.053239 0.222950
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 556.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/556/556.obj b/external/rlbench/rlbench/assets/procedural_objects/556/556.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3193eed41d523d09f9cbc5a30346c6b040e7fade
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/556/556.obj
@@ -0,0 +1,6075 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 556.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/556/556.png b/external/rlbench/rlbench/assets/procedural_objects/556/556.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/556/556.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/556/556.urdf b/external/rlbench/rlbench/assets/procedural_objects/556/556.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ade269b8e5feef8e74a17da926fa37f29113da0b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/556/556.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob556">
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+        <mesh filename="556_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/556/556_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/556/556_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/556/556_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/556/556_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/556/556_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ebebadeea9fb28f9870f8bba6debb520ce3715
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/556/556_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/557/557.mtl b/external/rlbench/rlbench/assets/procedural_objects/557/557.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9099a3fd9d00aa8b00e74dc08d68fdf792228636
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/557/557.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 557_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 557.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/557/557.obj b/external/rlbench/rlbench/assets/procedural_objects/557/557.obj
new file mode 100644
index 0000000000000000000000000000000000000000..630cb2a83157fdbd2b6175d4681b21b8d7e3dc57
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/557/557.obj
@@ -0,0 +1,3514 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 557.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/557/557.png b/external/rlbench/rlbench/assets/procedural_objects/557/557.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/557/557.urdf b/external/rlbench/rlbench/assets/procedural_objects/557/557.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1bc184a3ad886f67230435fbe8e89e54e68faf76
--- /dev/null
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@@ -0,0 +1,32 @@
+
+<robot name="blob557">
+  <link name="random_obj_557">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0943"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="557.obj" scale="0.0053 0.0053 0.0053"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.40 0.55 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="557_coll.obj" scale="0.0053 0.0053 0.0053"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/557/557_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/557/557_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/557/557_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/557/557_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/557/557_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084bfabf9a900c71f407a84171b1872c144ed9f3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/557/557_coll.obj
@@ -0,0 +1,378 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/558/558.mtl b/external/rlbench/rlbench/assets/procedural_objects/558/558.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..67107e45d6d5261b558751c4c207ada8b7aee92e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/558/558.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 558_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.147854 0.272862 0.343595
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 558.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/558/558.obj b/external/rlbench/rlbench/assets/procedural_objects/558/558.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d647bc6ab3cab1ab657798d61e7cdb918d7bddd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/558/558.obj
@@ -0,0 +1,1183 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 558.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/558/558.png b/external/rlbench/rlbench/assets/procedural_objects/558/558.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/558/558.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/558/558.urdf b/external/rlbench/rlbench/assets/procedural_objects/558/558.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c45b386d79a16072570e18db9e3a2b5b1a72305
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/558/558.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob558">
+  <link name="random_obj_558">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0705"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="558.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.75 0.31 0.31 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="558_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/558/558_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/558/558_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/558/558_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/558/558_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/558/558_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32e9a34ea872e808eb4dee8b7d145d0a354d417
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/558/558_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/559/559.mtl b/external/rlbench/rlbench/assets/procedural_objects/559/559.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fcdd848ce1126f8150f3334d9a8daf35141fe2e8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/559/559.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/559/559.obj b/external/rlbench/rlbench/assets/procedural_objects/559/559.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d80f3cbd8d236bb4a7d33848d58d4db8a5c161
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/559/559.png b/external/rlbench/rlbench/assets/procedural_objects/559/559.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/559/559.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/559/559.urdf b/external/rlbench/rlbench/assets/procedural_objects/559/559.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e8a85f428c180650e80469e3342159c79c0a09e7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/559/559.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob559">
+  <link name="random_obj_559">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0969"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="559.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.62 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="559_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/559/559_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/559/559_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/559/559_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/559/559_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/559/559_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542214b065a720619dd83e5fe13bc1c2095c9fe6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/559/559_coll.obj
@@ -0,0 +1,678 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/560/560.mtl b/external/rlbench/rlbench/assets/procedural_objects/560/560.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3445b2661045e5a18b693ace45f6650dd99333df
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/560/560.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 560_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/560/560.obj b/external/rlbench/rlbench/assets/procedural_objects/560/560.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa8486a8e02930da0d945ff9566854899fa2846
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/560/560.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/560/560.png b/external/rlbench/rlbench/assets/procedural_objects/560/560.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/560/560.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/560/560.urdf b/external/rlbench/rlbench/assets/procedural_objects/560/560.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b17e57329d0b9abcabaad8105e12bfdfa5e236ae
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/560/560.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob560">
+  <link name="random_obj_560">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0960"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="560.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.37 0.38 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="560_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/560/560_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/560/560_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/560/560_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/560/560_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/560/560_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292110c287590082a102577ba789925e31346f5e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/560/560_coll.obj
@@ -0,0 +1,546 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/561/561.mtl b/external/rlbench/rlbench/assets/procedural_objects/561/561.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4d42abce8e92b0903e96becc8a1bf86ff2a73c4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/561/561.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 561_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 561.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/561/561.obj b/external/rlbench/rlbench/assets/procedural_objects/561/561.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a9fbc488973058e7d2b88660d32c8c67fd7f2c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/561/561.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/561/561.png b/external/rlbench/rlbench/assets/procedural_objects/561/561.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/561/561.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/561/561.urdf b/external/rlbench/rlbench/assets/procedural_objects/561/561.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f00d9db64b476dbaaeb1ea8ef9caa63211d3e023
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/561/561.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob561">
+  <link name="random_obj_561">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
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+    </contact>
+    <inertial>
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+      <mass value="0.1391"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="561.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.21 0.09 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="561_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/561/561_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/561/561_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/561/561_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
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+Ns 0
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+Ks 0.8 0.8 0.8
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/561/561_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/561/561_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ea67244961c2cb4ea274493646fd22863413159
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/562/562.mtl b/external/rlbench/rlbench/assets/procedural_objects/562/562.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e81e949d3174975596c48ab5d1abb939f959540
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/562/562.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 562_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.542714 0.037131 0.756823
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 562.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/562/562.obj b/external/rlbench/rlbench/assets/procedural_objects/562/562.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2102135119c5871cb9653802281ef0a35f4dfb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/562/562.obj
@@ -0,0 +1,425 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/562/562.png b/external/rlbench/rlbench/assets/procedural_objects/562/562.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/562/562.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/562/562.urdf b/external/rlbench/rlbench/assets/procedural_objects/562/562.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..213561902f6e171af4f17defef86c1b40c48c330
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/562/562.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob562">
+  <link name="random_obj_562">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1693"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="562.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.09 0.93 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="562_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/562/562_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/562/562_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/562/562_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/562/562_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/562/562_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edea12a6bcbcfc055ba1107778da1640b3ad4021
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/562/562_coll.obj
@@ -0,0 +1,360 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/563/563.mtl b/external/rlbench/rlbench/assets/procedural_objects/563/563.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff05f15a84815e9c986db15f0be99d32ba9c09
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/563/563.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 563_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.419638 0.159562 0.110179
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 563.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/563/563.obj b/external/rlbench/rlbench/assets/procedural_objects/563/563.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407e48ebe615cdd6b2ae1d27968627de9cc0a122
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/563/563.obj
@@ -0,0 +1,171 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 563.mtl
+o 563_Cube.2269
+v -1.664806 -6.028111 -0.426750
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+v 1.604141 -6.095713 -0.430971
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/563/563.png b/external/rlbench/rlbench/assets/procedural_objects/563/563.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/563/563.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/563/563.urdf b/external/rlbench/rlbench/assets/procedural_objects/563/563.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6535444855b9ec0c3997f63b96f97a617d8b4e47
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/563/563.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob563">
+  <link name="random_obj_563">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0718"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="563.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.25 0.64 0.86 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="563_coll.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/563/563_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/563/563_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/563/563_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/563/563_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/563/563_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232023226f28a5def0dcb2114636ba96580bff56
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/563/563_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/564/564.mtl b/external/rlbench/rlbench/assets/procedural_objects/564/564.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7638f69025cea3177133fd69dedf3be1545fe633
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/564/564.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 564_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.151264 0.068711 0.275743
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 564.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/564/564.obj b/external/rlbench/rlbench/assets/procedural_objects/564/564.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e778d55c5ca69d190b2c8901af7569bde53eccb8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/564/564.obj
@@ -0,0 +1,200 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 564.mtl
+o 564_Cube.2272
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/564/564.png b/external/rlbench/rlbench/assets/procedural_objects/564/564.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/564/564.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/564/564.urdf b/external/rlbench/rlbench/assets/procedural_objects/564/564.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f2bfd0f450b05890c25324a412eedef73f8d0fa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/564/564.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob564">
+  <link name="random_obj_564">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1065"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="564.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.87 0.33 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="564_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/564/564_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/564/564_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/564/564_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/564/564_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/564/564_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17faf3f5460b94d6bd579351bbc9f953b2504a82
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/565/565.mtl b/external/rlbench/rlbench/assets/procedural_objects/565/565.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..347ab3f721bee7e7bcf3764ca798aa05ec10a619
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/565/565.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/565/565.obj b/external/rlbench/rlbench/assets/procedural_objects/565/565.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde2be70feb706afbe20109e42ab8dbd7ba2f3ac
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/565/565.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/565/565.png b/external/rlbench/rlbench/assets/procedural_objects/565/565.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/565/565.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/565/565.urdf b/external/rlbench/rlbench/assets/procedural_objects/565/565.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca4199d623b0e625b502e250d7aac73fde870371
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/565/565.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob565">
+  <link name="random_obj_565">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0812"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="565.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.91 0.48 0.84 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="565_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/565/565_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/565/565_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/565/565_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/565/565_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/565/565_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc24a5c6c5bb1df20839639c1da3d3932b91161
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/565/565_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/566/566.mtl b/external/rlbench/rlbench/assets/procedural_objects/566/566.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b690adf5f4f4e2318a32c8de8b2fbe5f83b34aa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/566/566.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 566_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 566.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/566/566.obj b/external/rlbench/rlbench/assets/procedural_objects/566/566.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d525b5b6cb00bb65cb301ab519293b16d35f21
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/566/566.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/566/566.png b/external/rlbench/rlbench/assets/procedural_objects/566/566.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/566/566.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/566/566.urdf b/external/rlbench/rlbench/assets/procedural_objects/566/566.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d3afce72304de66c86807d6c2cb540ca8f335157
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/566/566.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob566">
+  <link name="random_obj_566">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1258"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="566.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.08 0.65 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="566_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/566/566_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/566/566_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/566/566_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/566/566_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/566/566_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f616a92d37a3548825344b5762cdd7a201f51c5e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/567/567.mtl b/external/rlbench/rlbench/assets/procedural_objects/567/567.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff774c9dd83d7b46c447f6fe389b453ec777a1ce
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/567/567.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 567_mtl
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+Kd 0.347934 0.079215 0.177612
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 567.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/567/567.obj b/external/rlbench/rlbench/assets/procedural_objects/567/567.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8eaa27ef4ac581e449e31d13821410b6e4b1611
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/567/567.obj
@@ -0,0 +1,320 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/567/567.png b/external/rlbench/rlbench/assets/procedural_objects/567/567.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/567/567.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/567/567.urdf b/external/rlbench/rlbench/assets/procedural_objects/567/567.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d15201692cf3d08d6ce4ada5cc3c1d6272cadb73
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/567/567.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob567">
+  <link name="random_obj_567">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1384"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="567.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.85 0.67 0.28 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="567_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/567/567_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/567/567_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/567/567_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/567/567_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/567/567_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be4298cebe4611b2ff4fdbb04f5af552e13ef72
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/567/567_coll.obj
@@ -0,0 +1,483 @@
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+o convex_5
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/568/568.mtl b/external/rlbench/rlbench/assets/procedural_objects/568/568.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8e19c2e18fb7eb6ead346e647f836b7c159f3e0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/568/568.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 568_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.501804 0.057530 0.652521
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 568.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/568/568.obj b/external/rlbench/rlbench/assets/procedural_objects/568/568.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9da3479a7a669810b72e5ff1b189899ea5125b1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/568/568.obj
@@ -0,0 +1,1131 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 568.mtl
+o 568_Cube.2289
+v -0.634404 3.630495 -0.263705
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/568/568.png b/external/rlbench/rlbench/assets/procedural_objects/568/568.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/568/568.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/568/568.urdf b/external/rlbench/rlbench/assets/procedural_objects/568/568.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d530d4ae080f634fca150efdec1ecd67fcdb9fca
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/568/568.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob568">
+  <link name="random_obj_568">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0805"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="568.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.61 0.64 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="568_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/568/568_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/568/568_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/568/568_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/568/568_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/568/568_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a1e6e489fdaa4796df7ade6a2578bd934dc94c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/568/568_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/569/569.mtl b/external/rlbench/rlbench/assets/procedural_objects/569/569.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a678a85f0cb79d3941bade1b6c6656b634bae95a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/569/569.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/569/569.obj b/external/rlbench/rlbench/assets/procedural_objects/569/569.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7908464412a622c3ca8c31eb5bf3715b46537b97
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/569/569.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/569/569.png b/external/rlbench/rlbench/assets/procedural_objects/569/569.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/569/569.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/569/569.urdf b/external/rlbench/rlbench/assets/procedural_objects/569/569.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..151663c1eaecf15979b83134d93c1ed3c1f7859b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/569/569.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob569">
+  <link name="random_obj_569">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1383"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="569.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.79 0.24 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="569_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/569/569_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/569/569_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/569/569_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/569/569_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/569/569_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116ed323d03c98c283472a6f3b340a0f15b3707b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/569/569_coll.obj
@@ -0,0 +1,1023 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/570/570.mtl b/external/rlbench/rlbench/assets/procedural_objects/570/570.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8758a3e9d0ca1e5838bc3ae8c5e6a3c51f72e5e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/570/570.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 570_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.369308 0.728598 0.275626
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 570.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/570/570.obj b/external/rlbench/rlbench/assets/procedural_objects/570/570.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d242c01ef62adf6e4d43e32ff3bff695ed533e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/570/570.obj
@@ -0,0 +1,269 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 570.mtl
+o 570_Cube.2297
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/570/570.png b/external/rlbench/rlbench/assets/procedural_objects/570/570.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/570/570.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/570/570.urdf b/external/rlbench/rlbench/assets/procedural_objects/570/570.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c9550ec793b026928ae26cb930caaec2f262fb7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/570/570.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob570">
+  <link name="random_obj_570">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1077"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="570.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.14 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="570_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/570/570_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/570/570_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/570/570_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/570/570_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/570/570_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa8b296a22db4e7cebcd7cb960ea416404ac4d0c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/570/570_coll.obj
@@ -0,0 +1,228 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/571/571.mtl b/external/rlbench/rlbench/assets/procedural_objects/571/571.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2183857a5818b41244c9ab9f05574b36047e8ea2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/571/571.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 571_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.659731 0.130498 0.383386
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 571.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/571/571.obj b/external/rlbench/rlbench/assets/procedural_objects/571/571.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5818607a896fd3a898b34f2ebcb760b39347f0ee
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/571/571.obj
@@ -0,0 +1,4707 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 571.mtl
+o 571_Cube.2301
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/571/571.png b/external/rlbench/rlbench/assets/procedural_objects/571/571.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/571/571.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/571/571.urdf b/external/rlbench/rlbench/assets/procedural_objects/571/571.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1442f888e7fdd5aedb567f85e482cd21b671fedd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/571/571.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob571">
+  <link name="random_obj_571">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0829"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="571.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.08 0.89 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="571_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/571/571_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/571/571_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/571/571_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/571/571_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/571/571_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38728ff00e0842c19ba96b68f69246067d83a660
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/571/571_coll.obj
@@ -0,0 +1,318 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/572/572.mtl b/external/rlbench/rlbench/assets/procedural_objects/572/572.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f6944fa310bafb13c2497458bfc205cdd26084e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/572/572.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 572_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.148934 0.415814 0.200388
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 572.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/572/572.obj b/external/rlbench/rlbench/assets/procedural_objects/572/572.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863aa15e46474fd0d37c64ec5de3b30702c96471
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/572/572.obj
@@ -0,0 +1,5614 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/572/572.png b/external/rlbench/rlbench/assets/procedural_objects/572/572.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/572/572.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/572/572.urdf b/external/rlbench/rlbench/assets/procedural_objects/572/572.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5409f8bdf0fb769738e3b9e1efc6aa89e782407a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/572/572.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob572">
+  <link name="random_obj_572">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0882"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="572.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.50 0.80 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="572_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/572/572_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/572/572_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/572/572_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/572/572_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/572/572_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db343ca4d798b9d9ddec1376c00dd80828200fe6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/572/572_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/573/573.mtl b/external/rlbench/rlbench/assets/procedural_objects/573/573.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..486838635bb49e92f910faf4b41a838bb1e28da5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/573/573.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 573_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.005820 0.009706 0.469372
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 573.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/573/573.obj b/external/rlbench/rlbench/assets/procedural_objects/573/573.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6af05f76c9b34f01009ab6afcb57498981e1f5b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/573/573.obj
@@ -0,0 +1,5210 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/573/573.png b/external/rlbench/rlbench/assets/procedural_objects/573/573.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/573/573.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/573/573.urdf b/external/rlbench/rlbench/assets/procedural_objects/573/573.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7856b2909c64b331d44429eec6445b7e3c837aeb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/573/573.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob573">
+  <link name="random_obj_573">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1140"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="573.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.94 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="573_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/573/573_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/573/573_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/573/573_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/573/573_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/573/573_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345ad622babb7f2095e6bc184028cefef002ec43
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/573/573_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/574/574.mtl b/external/rlbench/rlbench/assets/procedural_objects/574/574.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..185b2b250f89bc07577e79f1f89d5d0e01a75d5a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/574/574.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 574_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.230824 0.503778 0.396694
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 574.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/574/574.obj b/external/rlbench/rlbench/assets/procedural_objects/574/574.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c6f5e8c3c556cb8c02b35868552cec6649ace6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/574/574.obj
@@ -0,0 +1,4767 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/574/574.urdf b/external/rlbench/rlbench/assets/procedural_objects/574/574.urdf
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index 0000000000000000000000000000000000000000..4febeadfef2a5820127e3686acec4efc1c126a8c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/574/574.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob574">
+  <link name="random_obj_574">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0815"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="574.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.10 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="574_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/574/574_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/574/574_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/574/574_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/574/574_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/574/574_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bffd472e62a5fea43e85532963a8ee6ab524ae
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/574/574_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/575/575.mtl b/external/rlbench/rlbench/assets/procedural_objects/575/575.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..836d642bc429a3097d0391c3ee9e3caf0c59a79d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/575/575.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 575_mtl
+Ns 96.078431
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+Kd 0.114592 0.273969 0.494594
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 575.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/575/575.obj b/external/rlbench/rlbench/assets/procedural_objects/575/575.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c2fc8edb4c8dfa60823181cc6f1f49279ae252
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/575/575.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/575/575.png b/external/rlbench/rlbench/assets/procedural_objects/575/575.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/575/575.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/575/575.urdf b/external/rlbench/rlbench/assets/procedural_objects/575/575.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b33f2c5edcd9d693817e033151abf64e00a91098
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/575/575.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob575">
+  <link name="random_obj_575">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0581"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="575.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.73 0.63 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="575_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/575/575_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/575/575_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/575/575_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/575/575_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/575/575_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf8869db7a980f22381b9a806e40437981649af1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/575/575_coll.obj
@@ -0,0 +1,189 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/576/576.mtl b/external/rlbench/rlbench/assets/procedural_objects/576/576.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5cf14945565821587c44fb8a75c82c6073f4680e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/576/576.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 576_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.161754 0.348160 0.728715
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 576.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/576/576.obj b/external/rlbench/rlbench/assets/procedural_objects/576/576.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb419212623d23d6e78cd034566f3cf863794a8e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/576/576.obj
@@ -0,0 +1,5132 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 576.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/576/576.png b/external/rlbench/rlbench/assets/procedural_objects/576/576.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/576/576.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/576/576.urdf b/external/rlbench/rlbench/assets/procedural_objects/576/576.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d85e86b5f92e26e88a4edbebe3a99d3391ba0075
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/576/576.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob576">
+  <link name="random_obj_576">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1196"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="576.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.96 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="576_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/576/576_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/576/576_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/576/576_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/576/576_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/576/576_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7172689bdc5ef1f37f4da0ead2d33798e36087f7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/576/576_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/577/577.mtl b/external/rlbench/rlbench/assets/procedural_objects/577/577.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffa0bae87ec399bbdaec3ab6475521bb353fd902
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/577/577.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 577_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.043461 0.577639 0.420404
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 577.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/577/577.obj b/external/rlbench/rlbench/assets/procedural_objects/577/577.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168914d9e0c47da60f4b83a5cba1d4015cc903c4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/577/577.obj
@@ -0,0 +1,287 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 577.mtl
+o 577_Cube.2324
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/577/577.png b/external/rlbench/rlbench/assets/procedural_objects/577/577.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/577/577.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/577/577.urdf b/external/rlbench/rlbench/assets/procedural_objects/577/577.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc30329d107b72b1e4a9d0ad24c2381f553bc166
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/577/577.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob577">
+  <link name="random_obj_577">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0832"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="577.obj" scale="0.0103 0.0103 0.0103"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.60 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="577_coll.obj" scale="0.0103 0.0103 0.0103"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/577/577_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/577/577_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/577/577_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/577/577_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/577/577_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a980161bd63cc8b51255acadcdb5f7c1c6ea7628
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/577/577_coll.obj
@@ -0,0 +1,273 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/578/578.mtl b/external/rlbench/rlbench/assets/procedural_objects/578/578.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6c494ae646911c91e400c8bf6380bfffbcca9d6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/578/578.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 578_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.052257 0.144456 0.293114
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 578.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/578/578.obj b/external/rlbench/rlbench/assets/procedural_objects/578/578.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e3a4f70acc4484dca87d708c1249ff2939b448
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/578/578.obj
@@ -0,0 +1,44 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 578.mtl
+o 578_Cube.2329
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+vt 0.000000 0.339668
+vt 0.333194 0.333243
+usemtl 578_mtl
+s off
+f 1/1 2/2 3/3 4/4
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/578/578.png b/external/rlbench/rlbench/assets/procedural_objects/578/578.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/578/578.urdf b/external/rlbench/rlbench/assets/procedural_objects/578/578.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20402cf99b8af5b8804779a3ef8585228b401016
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/578/578.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob578">
+  <link name="random_obj_578">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1297"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="578.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.61 0.29 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="578_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/578/578_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/578/578_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/578/578_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/578/578_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/578/578_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050607a3bcb206070ef3c1f81de42e995aa836d7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/578/578_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/579/579.mtl b/external/rlbench/rlbench/assets/procedural_objects/579/579.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee27d98d1a1d523e6ca5c2ffab1d41134014dd6b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/579/579.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 579_mtl
+Ns 96.078431
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+Ni 1.000000
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+illum 2
+map_Kd 579.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/579/579.obj b/external/rlbench/rlbench/assets/procedural_objects/579/579.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308b6824e49df8600570c29657f08f20d8f86ffa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/579/579.obj
@@ -0,0 +1,6645 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 579.mtl
+o 579_Cube.2332
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/579/579.png b/external/rlbench/rlbench/assets/procedural_objects/579/579.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/579/579.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/579/579.urdf b/external/rlbench/rlbench/assets/procedural_objects/579/579.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..358e843665abd60eac3e42bae774b36931547d83
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/579/579.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob579">
+  <link name="random_obj_579">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0249"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="579.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.82 0.06 0.63 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="579_coll.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/579/579_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/579/579_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/579/579_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/579/579_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/579/579_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5029b23f7db43756d2d9365720cc1508b0829736
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/579/579_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/580/580.mtl b/external/rlbench/rlbench/assets/procedural_objects/580/580.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8089db0b5d76d49cc168c4b5bebac9c73ab0eb9a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/580/580.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 580_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.086142 0.324486 0.154160
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 580.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/580/580.obj b/external/rlbench/rlbench/assets/procedural_objects/580/580.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0873bc9876f6cd932259eaffd8dd8fa4e4a21a3c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/580/580.obj
@@ -0,0 +1,831 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/580/580.urdf b/external/rlbench/rlbench/assets/procedural_objects/580/580.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df3e14e5785b1e198673c84491716642f3a3bc18
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/580/580.urdf
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+
+<robot name="blob580">
+  <link name="random_obj_580">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0610"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="580.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.32 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="580_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/580/580_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/580/580_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/580/580_coll.mtl
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+# 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/580/580_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/580/580_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b29b8d9b933ce46ed9aa387414c35758f0230f04
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/581/581.mtl b/external/rlbench/rlbench/assets/procedural_objects/581/581.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4aad8792c789a2100cd5adf908e8b7517c62584b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/581/581.obj b/external/rlbench/rlbench/assets/procedural_objects/581/581.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b36847ea7e86ab1b1c61fba507a8fb83926799
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/581/581.png b/external/rlbench/rlbench/assets/procedural_objects/581/581.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/581/581.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/581/581.urdf b/external/rlbench/rlbench/assets/procedural_objects/581/581.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb65b9ce019f8d843f6b76c9bf7dfaac71abc771
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/581/581.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_581">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
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+    </contact>
+    <inertial>
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+      <mass value="0.0616"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="581.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.20 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="581_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/581/581_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/581/581_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/581/581_coll.mtl
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+# Material Count: 1
+
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/581/581_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/581/581_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d464c38511d6d057da7dd3a12c69ca517d8570a
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/582/582.mtl b/external/rlbench/rlbench/assets/procedural_objects/582/582.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9ebf668f2ea66c4aed5a0b16625f3cf2f5359a7b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/582/582.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/582/582.obj b/external/rlbench/rlbench/assets/procedural_objects/582/582.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58539dd297a5d13801a93445e92c4b35406e038f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/582/582.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/582/582.png b/external/rlbench/rlbench/assets/procedural_objects/582/582.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/582/582.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/582/582.urdf b/external/rlbench/rlbench/assets/procedural_objects/582/582.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fa30b6c7088824203a981bc51d97d22e5546524c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/582/582.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob582">
+  <link name="random_obj_582">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0980"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="582.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.78 0.96 0.94 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="582_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/582/582_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/582/582_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/582/582_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/582/582_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/582/582_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04710f467e1f2f2416468597385b7654bd931ff4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/582/582_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/583/583.mtl b/external/rlbench/rlbench/assets/procedural_objects/583/583.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..68ff2d5f78abd67963883bf820a122d9534fd094
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/583/583.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 583_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.113726 0.264210 0.189453
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 583.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/583/583.obj b/external/rlbench/rlbench/assets/procedural_objects/583/583.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d017ca5ad3d6d2b416a6c962b95a081bcc44523d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/583/583.obj
@@ -0,0 +1,157 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 583.mtl
+o 583_Cube.2347
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/583/583.png b/external/rlbench/rlbench/assets/procedural_objects/583/583.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/583/583.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/583/583.urdf b/external/rlbench/rlbench/assets/procedural_objects/583/583.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77c96a5bc636e33fb9b53566e54f8b39d1dfada9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/583/583.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob583">
+  <link name="random_obj_583">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0501"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="583.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.94 0.89 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="583_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/583/583_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/583/583_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/583/583_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/583/583_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/583/583_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be24b224d3e9baba2abfee42436f3e10b38ad76
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/583/583_coll.obj
@@ -0,0 +1,219 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/584/584.mtl b/external/rlbench/rlbench/assets/procedural_objects/584/584.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd2ae6ca047285c75764eedff2dbd465f5790a09
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/584/584.mtl
@@ -0,0 +1,12 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/584/584.obj b/external/rlbench/rlbench/assets/procedural_objects/584/584.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d4fed48d36a9fd74fc4ee1688b39b6e52cb688
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/584/584.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/584/584.png b/external/rlbench/rlbench/assets/procedural_objects/584/584.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/584/584.urdf b/external/rlbench/rlbench/assets/procedural_objects/584/584.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..428a0dd6176219eb9be963a20320a7e1a8c5eda0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/584/584.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob584">
+  <link name="random_obj_584">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0768"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="584.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.18 0.34 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="584_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/584/584_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/584/584_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/584/584_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
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/584/584_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/584/584_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811704a230aad8df1be1631ebcde2557d8db2478
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/584/584_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/585/585.mtl b/external/rlbench/rlbench/assets/procedural_objects/585/585.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cb586426dac8ce208df94368c78878b517d73ffe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/585/585.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 585_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/585/585.obj b/external/rlbench/rlbench/assets/procedural_objects/585/585.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c90133ef427a0ef09de009dfde0a2a788f9919e9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/585/585.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/585/585.png b/external/rlbench/rlbench/assets/procedural_objects/585/585.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/585/585.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/585/585.urdf b/external/rlbench/rlbench/assets/procedural_objects/585/585.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..262d06ff5c858f4a21e44baeda87003b3ccef659
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/585/585.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob585">
+  <link name="random_obj_585">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0567"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="585.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.36 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="585_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/585/585_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/585/585_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/585/585_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/585/585_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/585/585_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1079a723009f0628ebe6ac82a4313c15cbd9c22e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/585/585_coll.obj
@@ -0,0 +1,819 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/586/586.mtl b/external/rlbench/rlbench/assets/procedural_objects/586/586.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e0396bcb4a538c4cc3efe9283e45a5f925ddb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/586/586.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 586_mtl
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+map_Kd 586.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/586/586.obj b/external/rlbench/rlbench/assets/procedural_objects/586/586.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ac42f1b18f0c5352b1f1488e5ddc2719bb1ccb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/586/586.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/586/586.png b/external/rlbench/rlbench/assets/procedural_objects/586/586.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/586/586.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/586/586.urdf b/external/rlbench/rlbench/assets/procedural_objects/586/586.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fd1547857691ac0cad5a9cece8709952259e77c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/586/586.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob586">
+  <link name="random_obj_586">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1249"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="586.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.07 0.60 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="586_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/586/586_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/586/586_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/586/586_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/586/586_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/586/586_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803c37337887fd83b5264b0c9877fb3d78db1c19
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/586/586_coll.obj
@@ -0,0 +1,687 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/587/587.mtl b/external/rlbench/rlbench/assets/procedural_objects/587/587.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e51cba33b4b3c589e4a90ad06b83b129d97e7487
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/587/587.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 587_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/587/587.obj b/external/rlbench/rlbench/assets/procedural_objects/587/587.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbfd27d46176a4ecafaf8b3b41976b7b91f154bb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/587/587.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/587/587.png b/external/rlbench/rlbench/assets/procedural_objects/587/587.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/587/587.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/587/587.urdf b/external/rlbench/rlbench/assets/procedural_objects/587/587.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89eec90179dcd024ba9ca24ec68cfc9737205f94
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/587/587.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob587">
+  <link name="random_obj_587">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1182"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="587.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.95 0.65 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="587_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/587/587_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/587/587_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/587/587_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/587/587_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/587/587_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..571b0eeb519d44e2c1089ddf1d20d59bb10c7a98
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/587/587_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/588/588.mtl b/external/rlbench/rlbench/assets/procedural_objects/588/588.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d5b7fa08007b9ad4e4de9c23a7c56bf011720de
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/588/588.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 588_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.148284 0.405996 0.368226
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 588.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/588/588.obj b/external/rlbench/rlbench/assets/procedural_objects/588/588.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1feaea14d83a5eee42b07339465bc12fd898fe1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/588/588.obj
@@ -0,0 +1,306 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/588/588.png b/external/rlbench/rlbench/assets/procedural_objects/588/588.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/588/588.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/588/588.urdf b/external/rlbench/rlbench/assets/procedural_objects/588/588.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..51c30d89c6f1895d7a6db9d9fa2c6a3869e1deed
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/588/588.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob588">
+  <link name="random_obj_588">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1376"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="588.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.13 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="588_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/588/588_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/588/588_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/588/588_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/588/588_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/588/588_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f78629938fd8bf97466f4b73637750281b0de8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/588/588_coll.obj
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+
+<robot name="blob589">
+  <link name="random_obj_589">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0978"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="589.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.67 0.83 0.64 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="589_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/589/589_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/589/589_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/589/589_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/589/589_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/589/589_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedbf722fd730447fb757be14111bdc0bfa3f05c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/589/589_coll.obj
@@ -0,0 +1,615 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/590/590.mtl b/external/rlbench/rlbench/assets/procedural_objects/590/590.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a85602e85dd168d75870eb94fbe8c88c2ca20d5e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/590/590.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 590_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.361148 0.409076 0.087392
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 590.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/590/590.obj b/external/rlbench/rlbench/assets/procedural_objects/590/590.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71033701b6ec26845616a171766f2c403bb918cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/590/590.obj
@@ -0,0 +1,7106 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 590.mtl
+o 590_Cube.2372
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/590/590.png b/external/rlbench/rlbench/assets/procedural_objects/590/590.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/590/590.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/590/590.urdf b/external/rlbench/rlbench/assets/procedural_objects/590/590.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afbeb40baad8fae55f84a2f1154271a8db90dd89
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/590/590.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob590">
+  <link name="random_obj_590">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0753"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="590.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.45 0.45 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="590_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/590/590_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/590/590_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/590/590_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/590/590_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/590/590_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ddd243f2ce7ca516722255bf55b42aeca2b653
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/590/590_coll.obj
@@ -0,0 +1,1056 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/591/591.mtl b/external/rlbench/rlbench/assets/procedural_objects/591/591.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..731e5fc2ca5bda2f5fa85a3cfbcf7f5a6e72ab5a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/591/591.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 591_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.257501 0.161082 0.359666
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 591.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/591/591.obj b/external/rlbench/rlbench/assets/procedural_objects/591/591.obj
new file mode 100644
index 0000000000000000000000000000000000000000..089caf9150c2d851a97578ed37e55517b2cc476e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/591/591.obj
@@ -0,0 +1,6031 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/591/591.png b/external/rlbench/rlbench/assets/procedural_objects/591/591.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/591/591.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/591/591.urdf b/external/rlbench/rlbench/assets/procedural_objects/591/591.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84c8400f899ed69fac24b9cfa58697d5922cf3a7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/591/591.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob591">
+  <link name="random_obj_591">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0456"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="591.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.72 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="591_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/591/591_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/591/591_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/591/591_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/591/591_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/591/591_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d93231a77c3143c86a2e6e6715d0d676a4d69f5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/591/591_coll.obj
@@ -0,0 +1,474 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/592/592.mtl b/external/rlbench/rlbench/assets/procedural_objects/592/592.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91bc14b461a711755aa84370b58a4e182dcc9c0f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/592/592.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 592_mtl
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+illum 2
+map_Kd 592.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/592/592.obj b/external/rlbench/rlbench/assets/procedural_objects/592/592.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d99b96c0b2bd92172e218ad6fa8fc7652a55b07
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/592/592.obj
@@ -0,0 +1,5697 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 592.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/592/592.png b/external/rlbench/rlbench/assets/procedural_objects/592/592.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/592/592.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/592/592.urdf b/external/rlbench/rlbench/assets/procedural_objects/592/592.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c9b76528ad1e5ccd7ee6dbda1d0b29bf2cd78e7f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/592/592.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob592">
+  <link name="random_obj_592">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1124"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="592.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.65 0.07 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="592_coll.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/592/592_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/592/592_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/592/592_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/592/592_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/592/592_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e511c57d4260485357aaffcf320f6800b9ff8a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/592/592_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/593/593.mtl b/external/rlbench/rlbench/assets/procedural_objects/593/593.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6167941520b99e497c9db44673840ce3f75f05e0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/593/593.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 593_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.638301 0.513435 0.239367
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 593.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/593/593.urdf b/external/rlbench/rlbench/assets/procedural_objects/593/593.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8a5196b664910aa029c680ce43f662fcabeb092
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/593/593.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob593">
+  <link name="random_obj_593">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1008"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="593.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.55 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="593_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>