diff --git a/external/rlbench/rlbench/__init__.py b/external/rlbench/rlbench/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..a7b11f5143eb09128c1ff0aa1f7bb3cebdcda431
--- /dev/null
+++ b/external/rlbench/rlbench/__init__.py
@@ -0,0 +1,17 @@
+__version__ = '1.2.0'
+
+import numpy as np
+import pyrep
+
+pr_v = np.array(pyrep.__version__.split('.'), dtype=int)
+if pr_v.size < 4 or np.any(pr_v < np.array([4, 1, 0, 2])):
+    raise ImportError(
+        'PyRep version must be greater than 4.1.0.2. Please update PyRep.')
+
+
+from rlbench.environment import Environment
+from rlbench.action_modes.action_mode import ActionMode, ArmActionMode, GripperActionMode
+from rlbench.observation_config import ObservationConfig
+from rlbench.observation_config import CameraConfig
+from rlbench.sim2real.domain_randomization import RandomizeEvery
+from rlbench.sim2real.domain_randomization import VisualRandomizationConfig
diff --git a/external/rlbench/rlbench/assets/chest_of_drawers.ttm b/external/rlbench/rlbench/assets/chest_of_drawers.ttm
new file mode 100644
index 0000000000000000000000000000000000000000..a162dedff4ee1225e869dca7505e2e918c9a7a49
Binary files /dev/null and b/external/rlbench/rlbench/assets/chest_of_drawers.ttm differ
diff --git a/external/rlbench/rlbench/assets/dish_rack.ttm b/external/rlbench/rlbench/assets/dish_rack.ttm
new file mode 100644
index 0000000000000000000000000000000000000000..2d31ca280d54461403e1f3c540bf772841e92ecf
Binary files /dev/null and b/external/rlbench/rlbench/assets/dish_rack.ttm differ
diff --git a/external/rlbench/rlbench/assets/large_container.ttm b/external/rlbench/rlbench/assets/large_container.ttm
new file mode 100644
index 0000000000000000000000000000000000000000..97ca4516ae656e62dcc4be9fd85effd5ec3ebf26
Binary files /dev/null and b/external/rlbench/rlbench/assets/large_container.ttm differ
diff --git a/external/rlbench/rlbench/assets/plate.ttm b/external/rlbench/rlbench/assets/plate.ttm
new file mode 100644
index 0000000000000000000000000000000000000000..ff1a994f969f3c177d0dab726781053fdf55746f
Binary files /dev/null and b/external/rlbench/rlbench/assets/plate.ttm differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/926/926_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/926/926_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/926/926_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/926/926_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/926/926_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4364477c7b0eef2d67b55da58067eb04a57afce2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/926/926_coll.obj
@@ -0,0 +1,537 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/927/927.mtl b/external/rlbench/rlbench/assets/procedural_objects/927/927.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d644d77c28f4f585af200acb10b209d027135b6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/927/927.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 927_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.547689 0.638075 0.059799
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 927.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/927/927.obj b/external/rlbench/rlbench/assets/procedural_objects/927/927.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac65468e4d6fc9242a862f540de4b632d5f8cd7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/927/927.obj
@@ -0,0 +1,366 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 927.mtl
+o 927_Cube.3747
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/927/927.png b/external/rlbench/rlbench/assets/procedural_objects/927/927.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/927/927.urdf b/external/rlbench/rlbench/assets/procedural_objects/927/927.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..087b8d42e4b18b05bc0ba2dc6a70225d5914ca7a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/927/927.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob927">
+  <link name="random_obj_927">
+    <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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+      <mass value="0.1505"/>
+      <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="927.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="927_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/927/927_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/927/927_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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+# Material Count: 1
+
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/927/927_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/927/927_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c03a14858adc839f1c88c872d2d66502a6baa75
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/928/928.mtl b/external/rlbench/rlbench/assets/procedural_objects/928/928.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866d117e328a2e9e1db430291ca1456af7934b0c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/928/928.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 928_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.290201 0.047186 0.716951
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 928.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/928/928.obj b/external/rlbench/rlbench/assets/procedural_objects/928/928.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59804af0639fd257409c79151f425e60ce8daa86
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/928/928.obj
@@ -0,0 +1,6140 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/928/928.png b/external/rlbench/rlbench/assets/procedural_objects/928/928.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/928/928.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/928/928.urdf b/external/rlbench/rlbench/assets/procedural_objects/928/928.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d357599b75efd79c9755456136c966e3a213140
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/928/928.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob928">
+  <link name="random_obj_928">
+    <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="0.0939"/>
+      <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="928.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.10 0.20 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="928_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/928/928_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/928/928_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/928/928_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/928/928_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/928/928_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7525c844cac77496d359c2538af9483f4f437f97
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/928/928_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/929/929.mtl b/external/rlbench/rlbench/assets/procedural_objects/929/929.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e4505915fe8a617a1105a55c39a052277f9f9a8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/929/929.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 929_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.310541 0.241452 0.737931
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 929.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/929/929.obj b/external/rlbench/rlbench/assets/procedural_objects/929/929.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca19e4b5ab59269b4283846ac4af3641be7a81fc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/929/929.obj
@@ -0,0 +1,5152 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 929.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/929/929.png b/external/rlbench/rlbench/assets/procedural_objects/929/929.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/929/929.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/929/929.urdf b/external/rlbench/rlbench/assets/procedural_objects/929/929.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ec2e02561e52e43a7fdcecdc07219961f76ac75
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/929/929.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob929">
+  <link name="random_obj_929">
+    <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="0.1107"/>
+      <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="929.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.00 0.10 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="929_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/929/929_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/929/929_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/929/929_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/929/929_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/929/929_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c58f15b208c74a9f8ddb4bd708f18dc9f9bd07ce
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/929/929_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/930/930.mtl b/external/rlbench/rlbench/assets/procedural_objects/930/930.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a209ead8cfa3c59fb19d2066022366ab74382a0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/930/930.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 930_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.597805 0.765613 0.159618
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 930.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/930/930.obj b/external/rlbench/rlbench/assets/procedural_objects/930/930.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d347e7404a8ae75807a6c28acc9177a552dbb404
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/930/930.obj
@@ -0,0 +1,417 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 930.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/930/930.png b/external/rlbench/rlbench/assets/procedural_objects/930/930.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/930/930.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/930/930.urdf b/external/rlbench/rlbench/assets/procedural_objects/930/930.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d126edec1fd659baff82e12598b51087cca63b7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/930/930.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob930">
+  <link name="random_obj_930">
+    <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="0.1102"/>
+      <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="930.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.85 0.87 0.63 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="930_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/930/930_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/930/930_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/930/930_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/930/930_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/930/930_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74120d0eaaa54c9fc6e84f55c4fb35b30151b6c5
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/931/931.mtl b/external/rlbench/rlbench/assets/procedural_objects/931/931.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6b4ed32b15d7f2c8b8e1ebdfe48a9671d713df6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/931/931.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 931_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.219707 0.097552 0.175144
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 931.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/931/931.obj b/external/rlbench/rlbench/assets/procedural_objects/931/931.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095280a02ca7d1a72f1aed431ca97adb32ac3d96
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/931/931.obj
@@ -0,0 +1,188 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 931.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/931/931.png b/external/rlbench/rlbench/assets/procedural_objects/931/931.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/931/931.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/931/931.urdf b/external/rlbench/rlbench/assets/procedural_objects/931/931.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8970266729418fa20f0eadb003c1f1e34521d33f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/931/931.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob931">
+  <link name="random_obj_931">
+    <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="931.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.86 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="931_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/931/931_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/931/931_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/931/931_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/931/931_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/931/931_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d12cc944a62bcad836fb1843e41e47eabf8f1ff6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/931/931_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/932/932.mtl b/external/rlbench/rlbench/assets/procedural_objects/932/932.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..715e924cdc6543dd9ee85c0c219031b259fd49e7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/932/932.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 932_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
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+illum 2
+map_Kd 932.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/932/932.obj b/external/rlbench/rlbench/assets/procedural_objects/932/932.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4117bbfdd6f698997a51dffd7f4589799b70a7f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/932/932.obj
@@ -0,0 +1,5197 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/932/932.png b/external/rlbench/rlbench/assets/procedural_objects/932/932.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/932/932.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/932/932.urdf b/external/rlbench/rlbench/assets/procedural_objects/932/932.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c5845b112684d0fbbad8f50c9d0a95c32834829e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/932/932.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob932">
+  <link name="random_obj_932">
+    <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="0.0565"/>
+      <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="932.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.96 0.58 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="932_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/932/932_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/932/932_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/932/932_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/932/932_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/932/932_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba89ffc877018c4799292fb213624bd51de6e24c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/932/932_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/933/933.mtl b/external/rlbench/rlbench/assets/procedural_objects/933/933.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..108b5dd2398ca25ab810ed1aa83a3a203905c8c1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/933/933.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/933/933.obj b/external/rlbench/rlbench/assets/procedural_objects/933/933.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac09d26d673cd2f69977b485fe5794e991628ca7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/933/933.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/933/933.png b/external/rlbench/rlbench/assets/procedural_objects/933/933.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/933/933.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/933/933.urdf b/external/rlbench/rlbench/assets/procedural_objects/933/933.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c519c2403b4b2533790ba7a82acae25c1331dbb7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/933/933.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob933">
+  <link name="random_obj_933">
+    <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="0.1070"/>
+      <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="933.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.62 0.26 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="933_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/933/933_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/933/933_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/933/933_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/933/933_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/933/933_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21541f21dd3bbb22151fed57e21a05f40ca1fe0a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/933/933_coll.obj
@@ -0,0 +1,678 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/934/934.mtl b/external/rlbench/rlbench/assets/procedural_objects/934/934.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d37b69969d9a550b63d9684f9371f481a684a575
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/934/934.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 934_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.697223 0.724534 0.045721
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 934.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/934/934.obj b/external/rlbench/rlbench/assets/procedural_objects/934/934.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88b601770d49ff21a0803f90a150215a3ffc891
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/934/934.obj
@@ -0,0 +1,6041 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/934/934.png b/external/rlbench/rlbench/assets/procedural_objects/934/934.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/934/934.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/934/934.urdf b/external/rlbench/rlbench/assets/procedural_objects/934/934.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..148a8546349949f108960133a2a60b1d6d3e008c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/934/934.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob934">
+  <link name="random_obj_934">
+    <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="0.0680"/>
+      <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="934.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.07 0.85 0.45 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="934_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/934/934_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/934/934_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/934/934_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/934/934_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/934/934_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fead7b4a481569494e122f634264bdad900fc5c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/934/934_coll.obj
@@ -0,0 +1,912 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/935/935.mtl b/external/rlbench/rlbench/assets/procedural_objects/935/935.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5dbb3ef645d8ac24e1c926302443741d01e9ab6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/935/935.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 935_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 935.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/935/935.obj b/external/rlbench/rlbench/assets/procedural_objects/935/935.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348de14a7131ea198f3545b0d8d7728acb476f6d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/935/935.obj
@@ -0,0 +1,4707 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/935/935.png b/external/rlbench/rlbench/assets/procedural_objects/935/935.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/935/935.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/935/935.urdf b/external/rlbench/rlbench/assets/procedural_objects/935/935.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b295adeb890ac141c6bb0558c2b4e3f425eac063
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/935/935.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob935">
+  <link name="random_obj_935">
+    <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="0.0623"/>
+      <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="935.obj" scale="0.0057 0.0057 0.0057"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.86 0.03 0.46 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="935_coll.obj" scale="0.0057 0.0057 0.0057"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/935/935_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/935/935_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/935/935_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/935/935_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/935/935_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6625dff80a331d3f6ddb7815bae9659895810cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/935/935_coll.obj
@@ -0,0 +1,309 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/936/936.mtl b/external/rlbench/rlbench/assets/procedural_objects/936/936.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61880ec56e5ebb56ce6ade4b236b92e680f842e5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/936/936.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 936_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.663865 0.308390 0.157337
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 936.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/936/936.obj b/external/rlbench/rlbench/assets/procedural_objects/936/936.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5dffaa258ac21e4caa2ca85a21481084d949b0a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/936/936.obj
@@ -0,0 +1,186 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 936.mtl
+o 936_Cube.3783
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/936/936.png b/external/rlbench/rlbench/assets/procedural_objects/936/936.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/936/936.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/936/936.urdf b/external/rlbench/rlbench/assets/procedural_objects/936/936.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d48fd99c53eb86a64e5182080a7ad2d07d20f231
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/936/936.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob936">
+  <link name="random_obj_936">
+    <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="0.0859"/>
+      <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="936.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.58 0.78 0.36 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="936_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/936/936_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/936/936_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/936/936_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/936/936_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/936/936_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b28fce395232a825e05a76ac8b97cf53977b1f9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/936/936_coll.obj
@@ -0,0 +1,315 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/937/937.mtl b/external/rlbench/rlbench/assets/procedural_objects/937/937.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f411d49164e0fba714053a8396038d7ffa43e13b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/937/937.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 937_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.430042 0.132021 0.170426
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 937.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/937/937.obj b/external/rlbench/rlbench/assets/procedural_objects/937/937.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5534f9e45925417e146fa85c16e4fd0b145f1dd1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/937/937.obj
@@ -0,0 +1,6068 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 937.mtl
+o 937_Cube.3786
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/937/937.png b/external/rlbench/rlbench/assets/procedural_objects/937/937.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/937/937.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/937/937.urdf b/external/rlbench/rlbench/assets/procedural_objects/937/937.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab56f592b39e86bcf8c5d160ae59fdd54db6b1ba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/937/937.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob937">
+  <link name="random_obj_937">
+    <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="0.0944"/>
+      <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="937.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.13 0.98 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="937_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/937/937_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/937/937_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/937/937_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/937/937_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/937/937_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac7b3d89ab6df0e9de5fefebc19f57308a425f3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/937/937_coll.obj
@@ -0,0 +1,1008 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/938/938.mtl b/external/rlbench/rlbench/assets/procedural_objects/938/938.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0241a67169a2b8fabd7f23e62973583275633593
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/938/938.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 938_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 938.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/938/938.obj b/external/rlbench/rlbench/assets/procedural_objects/938/938.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22bf480568011f3f3d1df16095792e75d74e18d6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/938/938.obj
@@ -0,0 +1,5024 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/938/938.png b/external/rlbench/rlbench/assets/procedural_objects/938/938.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/938/938.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/938/938.urdf b/external/rlbench/rlbench/assets/procedural_objects/938/938.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6889ef531bb124cbd431eacb0a085f8aa9fbf9f7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/938/938.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob938">
+  <link name="random_obj_938">
+    <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="938.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.37 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="938_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/938/938_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/938/938_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/938/938_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/938/938_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/938/938_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b506655003e1c51ccb267898d75fd67dc486409
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/938/938_coll.obj
@@ -0,0 +1,1047 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/939/939.mtl b/external/rlbench/rlbench/assets/procedural_objects/939/939.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02557ca311f3d60844312e838d8afbccb984c1cd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/939/939.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
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+illum 2
+map_Kd 939.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/939/939.obj b/external/rlbench/rlbench/assets/procedural_objects/939/939.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1590dfee7d78b77fd1df702919f426ccaa61a5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/939/939.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/939/939.png b/external/rlbench/rlbench/assets/procedural_objects/939/939.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/939/939.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/939/939.urdf b/external/rlbench/rlbench/assets/procedural_objects/939/939.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..94bcb07ab1d917bf8f425f10f67d9e56c6528c5f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/939/939.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob939">
+  <link name="random_obj_939">
+    <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="0.1459"/>
+      <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="939.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.52 0.31 0.41 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="939_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/939/939_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/939/939_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/939/939_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/939/939_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/939/939_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc575c3463b7a411112d037243edaefcf05fa6d5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/939/939_coll.obj
@@ -0,0 +1,576 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/940/940.mtl b/external/rlbench/rlbench/assets/procedural_objects/940/940.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..442895b23c444e73bc6b96f20e8be5cc26ec91e6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/940/940.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 940_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 940.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/940/940.obj b/external/rlbench/rlbench/assets/procedural_objects/940/940.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24621e5ba9653774e30e0bd80327a3a6253c628e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/940/940.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/940/940.png b/external/rlbench/rlbench/assets/procedural_objects/940/940.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/940/940.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/940/940.urdf b/external/rlbench/rlbench/assets/procedural_objects/940/940.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed567565c73cc9d06dd0e19a273325b43b80224f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/940/940.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob940">
+  <link name="random_obj_940">
+    <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="940.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.03 0.50 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="940_coll.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/940/940_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/940/940_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/940/940_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/940/940_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/940/940_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7617b5c0e89f4b18b5a662ebaf012529cd282ac
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/940/940_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/941/941.mtl b/external/rlbench/rlbench/assets/procedural_objects/941/941.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f99245aab6ba09c10ff5f0b5c3dbfe979c5c8583
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/941/941.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 941_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.736447 0.005334 0.153464
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 941.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/941/941.obj b/external/rlbench/rlbench/assets/procedural_objects/941/941.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb271d9507ac5c6eff11e29bb8c01a38ae2d86b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/941/941.obj
@@ -0,0 +1,1801 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/941/941.png b/external/rlbench/rlbench/assets/procedural_objects/941/941.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/941/941.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/941/941.urdf b/external/rlbench/rlbench/assets/procedural_objects/941/941.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1eddb614c7b435f2c521ae5c8918430edc304eab
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/941/941.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob941">
+  <link name="random_obj_941">
+    <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="0.1069"/>
+      <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="941.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.32 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="941_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/941/941_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/941/941_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/941/941_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/941/941_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/941/941_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28534b70f7c95f1fb6228b8286636737a328b34
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/941/941_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/942/942.mtl b/external/rlbench/rlbench/assets/procedural_objects/942/942.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edebe198e37053d7b0e6040a098f001f0b2198dd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/942/942.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 942_mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/942/942.obj b/external/rlbench/rlbench/assets/procedural_objects/942/942.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9037895c7f72b35c3a5423b2c06338c123c27ca1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/942/942.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/942/942.png b/external/rlbench/rlbench/assets/procedural_objects/942/942.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/942/942.urdf b/external/rlbench/rlbench/assets/procedural_objects/942/942.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35d42feec8c21c5a0afc02c5c95af5214b28c450
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/942/942.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob942">
+  <link name="random_obj_942">
+    <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="0.0985"/>
+      <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="942.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.96 0.80 0.23 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="942_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/942/942_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/942/942_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/942/942_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/942/942_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/942/942_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1fcf1540c81852d0e9d6a5542c996d00588a5e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/942/942_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/943/943.mtl b/external/rlbench/rlbench/assets/procedural_objects/943/943.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12fd4d88a5a1c893c9e5f8e0e42876eddc0db469
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/943/943.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 943_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.076974 0.076113 0.202553
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 943.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/943/943.obj b/external/rlbench/rlbench/assets/procedural_objects/943/943.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196f3c68985569331d87b59524c5582568b1aec8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/943/943.obj
@@ -0,0 +1,416 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 943.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/943/943.png b/external/rlbench/rlbench/assets/procedural_objects/943/943.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/943/943.urdf b/external/rlbench/rlbench/assets/procedural_objects/943/943.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a3d96677e2847b4913ef1a55293b0215bfa1ed9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/943/943.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob943">
+  <link name="random_obj_943">
+    <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>
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+      <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="943.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.03 0.35 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="943_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/943/943_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/943/943_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/943/943_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/943/943_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/943/943_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02aa223b1aaefbfb8cc17ffa6969e83807106628
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/944/944.mtl b/external/rlbench/rlbench/assets/procedural_objects/944/944.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2646ed990e5276780db02e38e5824b77083e0380
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/944/944.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 944_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.185060 0.237429 0.089010
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 944.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/944/944.obj b/external/rlbench/rlbench/assets/procedural_objects/944/944.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5340dcf84527bc2ea35d545c5bbaf19ba8ee9fd9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/944/944.obj
@@ -0,0 +1,5262 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 944.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/944/944.png b/external/rlbench/rlbench/assets/procedural_objects/944/944.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/944/944.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/944/944.urdf b/external/rlbench/rlbench/assets/procedural_objects/944/944.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e1517992d570c152b362b6149791073aba2a943
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/944/944.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob944">
+  <link name="random_obj_944">
+    <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="0.1491"/>
+      <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="944.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.56 0.22 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="944_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/944/944_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/944/944_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/944/944_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/944/944_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/944/944_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf098f51170bea4c0b0aecf9138fb0567feb07c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/944/944_coll.obj
@@ -0,0 +1,918 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/945/945.mtl b/external/rlbench/rlbench/assets/procedural_objects/945/945.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0cbadae5207b0a8a4e8f7be4cfce327f00ef774c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/945/945.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 945_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 945.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/945/945.obj b/external/rlbench/rlbench/assets/procedural_objects/945/945.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357a5355f23e53bea524a17e8660bbd33adeac36
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/945/945.obj
@@ -0,0 +1,1622 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/945/945.png b/external/rlbench/rlbench/assets/procedural_objects/945/945.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/945/945.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/945/945.urdf b/external/rlbench/rlbench/assets/procedural_objects/945/945.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecb3cb260d3eba5485dfde0f9ca47d1c2ebf13e0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/945/945.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob945">
+  <link name="random_obj_945">
+    <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="0.0740"/>
+      <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="945.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.94 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="945_coll.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/945/945_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/945/945_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/945/945_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/945/945_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/945/945_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a9b2b339a3e8bc2e15375781c46a491e851e87
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/945/945_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/946/946.mtl b/external/rlbench/rlbench/assets/procedural_objects/946/946.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd080656a41461fac0d99529a69e78bc66449346
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/946/946.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 946_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.277724 0.526391 0.186278
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 946.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/946/946.obj b/external/rlbench/rlbench/assets/procedural_objects/946/946.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ba3df13293846f18e5ba774ce32a29f5666eaf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/946/946.obj
@@ -0,0 +1,179 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 946.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/946/946.png b/external/rlbench/rlbench/assets/procedural_objects/946/946.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/946/946.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/946/946.urdf b/external/rlbench/rlbench/assets/procedural_objects/946/946.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6269d41ceb6b43e757160bd20d9e8a50d4535b6c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/946/946.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob946">
+  <link name="random_obj_946">
+    <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="0.1100"/>
+      <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="946.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.13 0.61 0.96 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="946_coll.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/946/946_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/946/946_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/946/946_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/946/946_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/946/946_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583e9f8edfb73f9ab1e342290711af4d18bdc37d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/946/946_coll.obj
@@ -0,0 +1,387 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/947/947.mtl b/external/rlbench/rlbench/assets/procedural_objects/947/947.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c3a4cf447b068a50b59a435f46780afe3b65bd2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/947/947.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 947_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.063534 0.314766 0.277957
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 947.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/947/947.obj b/external/rlbench/rlbench/assets/procedural_objects/947/947.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b13e2a53ddb58245b9aaabc99d76a1a42f1d4be
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/947/947.obj
@@ -0,0 +1,455 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 947.mtl
+o 947_Cube.3830
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/947/947.png b/external/rlbench/rlbench/assets/procedural_objects/947/947.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/947/947.urdf b/external/rlbench/rlbench/assets/procedural_objects/947/947.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84cc73a3c66f8248f73279a6749365e110d59d9c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/947/947.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob947">
+  <link name="random_obj_947">
+    <contact>
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+      <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="0.1214"/>
+      <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="947.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="947_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/947/947_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/947/947_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/947/947_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/947/947_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/947/947_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d9e04ad2ed2eda978b121ca3c59780fb034014
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/948/948.mtl b/external/rlbench/rlbench/assets/procedural_objects/948/948.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6062ebe48448234e0f52c13a82eaa03a4a2355ff
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/948/948.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 948_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 948.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/948/948.obj b/external/rlbench/rlbench/assets/procedural_objects/948/948.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37376c3a0e66a42567da3f129ea35eccd46d2006
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/948/948.obj
@@ -0,0 +1,5252 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/948/948.png b/external/rlbench/rlbench/assets/procedural_objects/948/948.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/948/948.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/948/948.urdf b/external/rlbench/rlbench/assets/procedural_objects/948/948.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f68c299c60756cdf5464dac84a2fe8214ac5813
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/948/948.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob948">
+  <link name="random_obj_948">
+    <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="948.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.94 0.37 0.56 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="948_coll.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/948/948_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/948/948_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/948/948_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/948/948_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/948/948_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e1be2f7447862bb0cc7675f6e4cf81f447e6c02
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/949/949.mtl b/external/rlbench/rlbench/assets/procedural_objects/949/949.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..feda7ff2a814ffdd8d72287a0d902ef96345a8a5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/949/949.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 949_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 949.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/949/949.obj b/external/rlbench/rlbench/assets/procedural_objects/949/949.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2d55aa02732b552d7de00a88724e278f948ea0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/949/949.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/949/949.png b/external/rlbench/rlbench/assets/procedural_objects/949/949.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/949/949.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/949/949.urdf b/external/rlbench/rlbench/assets/procedural_objects/949/949.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a2e5392576aafacddc9a4619168e11bfb525c2e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/949/949.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob949">
+  <link name="random_obj_949">
+    <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="0.1438"/>
+      <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="949.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.89 0.40 0.82 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="949_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/949/949_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/949/949_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/949/949_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/949/949_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/949/949_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfff6be1b5695ccd7fd3896ed36eb06d24e7314
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/949/949_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/950/950.mtl b/external/rlbench/rlbench/assets/procedural_objects/950/950.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b62e36c15e350187303aaa39d6a8b53422bb5dd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/950/950.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 950_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.277149 0.081066 0.176304
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/950/950.obj b/external/rlbench/rlbench/assets/procedural_objects/950/950.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2fdb20fb9a7224a593a898c41c01425653ef6e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/950/950.obj
@@ -0,0 +1,1109 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/950/950.png b/external/rlbench/rlbench/assets/procedural_objects/950/950.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/950/950.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/950/950.urdf b/external/rlbench/rlbench/assets/procedural_objects/950/950.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77d63dcd061f38e19ceedb164277431ebc61633e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/950/950.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob950">
+  <link name="random_obj_950">
+    <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="0.1271"/>
+      <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="950.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.56 0.96 0.89 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="950_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/950/950_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/950/950_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/950/950_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/950/950_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/950/950_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc03fc227d4e4c093243977c2de64028fe438598
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/950/950_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/951/951.mtl b/external/rlbench/rlbench/assets/procedural_objects/951/951.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d57f9c8349363f2841e48e270eaa9187b2a3f6b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/951/951.mtl
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+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/951/951.obj b/external/rlbench/rlbench/assets/procedural_objects/951/951.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1d85402b9c0d1ff55d4b200f612b77e9e0c787
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/951/951.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/951/951.png b/external/rlbench/rlbench/assets/procedural_objects/951/951.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/951/951.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/951/951.urdf b/external/rlbench/rlbench/assets/procedural_objects/951/951.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da51e07dbe5e5348e9ebaee1791a9c129ae46ea4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/951/951.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob951">
+  <link name="random_obj_951">
+    <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="951.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.87 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="951_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/951/951_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/951/951_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/951/951_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
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+Ks 0.8 0.8 0.8
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/951/951_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/951/951_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878b1bf2ee3e901ed57f81add7fa0a50e87497d9
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/952/952.mtl b/external/rlbench/rlbench/assets/procedural_objects/952/952.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0baaefd5e45e56a7d7328a1d6a2a98d04bcc2c07
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/952/952.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/952/952.obj b/external/rlbench/rlbench/assets/procedural_objects/952/952.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e733835adb4a164d1ec059b2b8f02f245e09fb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/952/952.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/952/952.png b/external/rlbench/rlbench/assets/procedural_objects/952/952.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/952/952.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/952/952.urdf b/external/rlbench/rlbench/assets/procedural_objects/952/952.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5c4ab5d82d77f54b0f30d352a908b29cdc6238d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/952/952.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob952">
+  <link name="random_obj_952">
+    <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="0.1078"/>
+      <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="952.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.64 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="952_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/952/952_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/952/952_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/952/952_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/952/952_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/952/952_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9159365e34354d0bae16e193d6c865bd194897eb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/952/952_coll.obj
@@ -0,0 +1,378 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/953/953.mtl b/external/rlbench/rlbench/assets/procedural_objects/953/953.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d1e8bdd9d31e77b0b786ee8beb67c72fda5f66d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/953/953.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 953_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.309893 0.133187 0.517172
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 953.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/953/953.obj b/external/rlbench/rlbench/assets/procedural_objects/953/953.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d79a1c32f73df8560180de56a7ee130936a37b3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/953/953.obj
@@ -0,0 +1,137 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 953.mtl
+o 953_Cube.3857
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/953/953.png b/external/rlbench/rlbench/assets/procedural_objects/953/953.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/953/953.urdf b/external/rlbench/rlbench/assets/procedural_objects/953/953.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bba03fdb0a6fe44e64f227373047c0d78e4fbd37
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/953/953.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob953">
+  <link name="random_obj_953">
+    <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="953.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.86 0.41 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="953_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/953/953_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/953/953_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/953/953_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/953/953_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/953/953_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1755206dcbcdb098f968a8b74400674dcca6741e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/953/953_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/954/954.mtl b/external/rlbench/rlbench/assets/procedural_objects/954/954.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5bddc0b217e7c9c517b5228605200bba67057a0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/954/954.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/954/954.obj b/external/rlbench/rlbench/assets/procedural_objects/954/954.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229c77dec71e2b4aa2ae74e79888aeebcc7e0848
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/954/954.obj
@@ -0,0 +1,4882 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/954/954.png b/external/rlbench/rlbench/assets/procedural_objects/954/954.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/954/954.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/954/954.urdf b/external/rlbench/rlbench/assets/procedural_objects/954/954.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf22cb6ff48627f2074d9fb3f546dbbb43065f20
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/954/954.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob954">
+  <link name="random_obj_954">
+    <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="0.1184"/>
+      <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="954.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.52 0.46 0.11 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="954_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/954/954_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/954/954_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/954/954_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/954/954_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/954/954_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7607a10f442fc7f96b12102f8fcb836d6e8804
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/954/954_coll.obj
@@ -0,0 +1,903 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/955/955.mtl b/external/rlbench/rlbench/assets/procedural_objects/955/955.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0732f27500c6ee2365480a34fb87710203d283c9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/955/955.mtl
@@ -0,0 +1,12 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/955/955.obj b/external/rlbench/rlbench/assets/procedural_objects/955/955.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cf035913eb282e1a450ab7127cd802d3ef1a64
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/955/955.png b/external/rlbench/rlbench/assets/procedural_objects/955/955.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/955/955.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/955/955.urdf b/external/rlbench/rlbench/assets/procedural_objects/955/955.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a023e010647b1851e6a7a8e1c0238a907e8145b4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/955/955.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob955">
+  <link name="random_obj_955">
+    <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="955.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.12 0.24 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="955_coll.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/955/955_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/955/955_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/955/955_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/955/955_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/955/955_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660646486f02a42228ad9d656f7b8be23d96eeaf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/955/955_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/956/956.mtl b/external/rlbench/rlbench/assets/procedural_objects/956/956.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02a9a3d8856ce853da83d86c6dd4767969a8493b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/956/956.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+newmtl 956_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 956.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/956/956.obj b/external/rlbench/rlbench/assets/procedural_objects/956/956.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab3fb9162e23b70939cf093dcb6f2fb6a9dce2a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/956/956.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/956/956.png b/external/rlbench/rlbench/assets/procedural_objects/956/956.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/956/956.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/956/956.urdf b/external/rlbench/rlbench/assets/procedural_objects/956/956.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4b049aebd817de7d2c7d2044d54eb9458b75b063
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/956/956.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob956">
+  <link name="random_obj_956">
+    <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="956.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.27 0.32 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="956_coll.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/956/956_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/956/956_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/956/956_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/956/956_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/956/956_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31278cfb4a5740f7c822eefff0555d7c75ae427f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/956/956_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/957/957.mtl b/external/rlbench/rlbench/assets/procedural_objects/957/957.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc39b0a0de984b1f42846ee405b2d37e1d2e63b9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/957/957.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 957_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.508103 0.240326 0.578381
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 957.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/957/957.obj b/external/rlbench/rlbench/assets/procedural_objects/957/957.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6dceffb4db6076debcf6a41592342194993772d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/957/957.obj
@@ -0,0 +1,168 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 957.mtl
+o 957_Cube.3873
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/957/957.png b/external/rlbench/rlbench/assets/procedural_objects/957/957.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/957/957.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/957/957.urdf b/external/rlbench/rlbench/assets/procedural_objects/957/957.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..724d4892b31bb6fddf4fa977c4d13d7b62c0cb93
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/957/957.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob957">
+  <link name="random_obj_957">
+    <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="957.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.54 0.57 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="957_coll.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/957/957_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/957/957_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/957/957_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/957/957_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/957/957_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8596d1edee16377c5d24f1954727cd7c8492c0b6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/957/957_coll.obj
@@ -0,0 +1,345 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/958/958.mtl b/external/rlbench/rlbench/assets/procedural_objects/958/958.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1768e4865aac9233719debe11c39245b8ce21901
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/958/958.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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+illum 2
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/958/958.obj b/external/rlbench/rlbench/assets/procedural_objects/958/958.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bcbbfe1a740c22fd4664c90a2a97141ebdaebc6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/958/958.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/958/958.png b/external/rlbench/rlbench/assets/procedural_objects/958/958.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/958/958.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/958/958.urdf b/external/rlbench/rlbench/assets/procedural_objects/958/958.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e5c4b0e4adb3f9cf01196ba7d49757562357687
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/958/958.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob958">
+  <link name="random_obj_958">
+    <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="0.0774"/>
+      <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="958.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.73 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="958_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/958/958_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/958/958_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/958/958_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/958/958_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/958/958_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e26dcbd509648096bb13a56560d055a568e1da
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/958/958_coll.obj
@@ -0,0 +1,396 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/959/959.mtl b/external/rlbench/rlbench/assets/procedural_objects/959/959.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5084797f8b819379eb253388d3f785b1da1b87c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/959/959.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 959_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.686502 0.253166 0.159491
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 959.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/959/959.obj b/external/rlbench/rlbench/assets/procedural_objects/959/959.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61a14e588045a59d4c47c4a1110cbf7791dad07
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/959/959.obj
@@ -0,0 +1,98 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 959.mtl
+o 959_Cube.3880
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+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/959/959.png b/external/rlbench/rlbench/assets/procedural_objects/959/959.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/959/959.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/959/959.urdf b/external/rlbench/rlbench/assets/procedural_objects/959/959.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76075d72568bf1871300ca792188f0bcca51ee4f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/959/959.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob959">
+  <link name="random_obj_959">
+    <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="0.1616"/>
+      <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="959.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.19 0.16 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="959_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/959/959_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/959/959_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/959/959_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/959/959_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/959/959_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aaa30f47c61ab17242c9b8835960386d12a7182
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/959/959_coll.obj
@@ -0,0 +1,225 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/960/960.mtl b/external/rlbench/rlbench/assets/procedural_objects/960/960.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e122928d7340e95d18214bd83720baa22ae0c696
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/960/960.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 960_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.130242 0.742435 0.398864
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 960.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/960/960.obj b/external/rlbench/rlbench/assets/procedural_objects/960/960.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f956aa4c97535e7e37629cce5cff90e1e0db1cbe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/960/960.obj
@@ -0,0 +1,621 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/960/960.png b/external/rlbench/rlbench/assets/procedural_objects/960/960.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/960/960.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/960/960.urdf b/external/rlbench/rlbench/assets/procedural_objects/960/960.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..686fc849391e7c7edb1c50bb9222fbc67d751015
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/960/960.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob960">
+  <link name="random_obj_960">
+    <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="0.1309"/>
+      <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="960.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.23 0.32 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="960_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/960/960_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/960/960_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/960/960_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/960/960_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/960/960_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2878f0f12cab3152bf1be091f1d5a46c4b439fb1
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/961/961.mtl b/external/rlbench/rlbench/assets/procedural_objects/961/961.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dcc53bd4b7f00d703c9d83329f5c897aeffced5a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/961/961.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 961_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.482902 0.174968 0.369693
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 961.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/961/961.obj b/external/rlbench/rlbench/assets/procedural_objects/961/961.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c2252ff8657ffcd6965dd2b4b6eef9498009fa0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/961/961.obj
@@ -0,0 +1,775 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 961.mtl
+o 961_Cube.3888
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/961/961.png b/external/rlbench/rlbench/assets/procedural_objects/961/961.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/961/961.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/961/961.urdf b/external/rlbench/rlbench/assets/procedural_objects/961/961.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ac014569bf7a845e640292b913d00f8f2e6d077
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/961/961.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob961">
+  <link name="random_obj_961">
+    <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="0.1097"/>
+      <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="961.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.18 0.57 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="961_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/961/961_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/961/961_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/961/961_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/961/961_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/961/961_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ec86193dda3fb5b094b6da91c1983f5eb10dc0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/961/961_coll.obj
@@ -0,0 +1,915 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/962/962.mtl b/external/rlbench/rlbench/assets/procedural_objects/962/962.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3b33aa40219b0ae4ab12a0d5b16ba4ee23481ba
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/962/962.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 962_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.635087 0.223790 0.180179
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 962.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/962/962.obj b/external/rlbench/rlbench/assets/procedural_objects/962/962.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d320fc4147bea19eb1d0f5f63c38de5f42e50f52
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/962/962.obj
@@ -0,0 +1,229 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/962/962.png b/external/rlbench/rlbench/assets/procedural_objects/962/962.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/962/962.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/962/962.urdf b/external/rlbench/rlbench/assets/procedural_objects/962/962.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77df2f6c3d7c2c595cd3450f4cf46f99b166c42f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/962/962.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob962">
+  <link name="random_obj_962">
+    <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="0.0405"/>
+      <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="962.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.81 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="962_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/962/962_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/962/962_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/962/962_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/962/962_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/962/962_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d658b275095971d937ebf373af87237ea6bb54f2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/962/962_coll.obj
@@ -0,0 +1,303 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/963/963.mtl b/external/rlbench/rlbench/assets/procedural_objects/963/963.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d4a9eee266d0d3611101d7ee81a2ac2469b159d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/963/963.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 963_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.540590 0.201792 0.482960
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 963.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/963/963.obj b/external/rlbench/rlbench/assets/procedural_objects/963/963.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c88d3c1b6eec795c48aeed35c729a9cea8cd1b1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/963/963.obj
@@ -0,0 +1,486 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 963.mtl
+o 963_Cube.3895
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/963/963.png b/external/rlbench/rlbench/assets/procedural_objects/963/963.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/963/963.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/963/963.urdf b/external/rlbench/rlbench/assets/procedural_objects/963/963.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..265cd7e9c0e431e549f4d5ef35f3abd3ad016d62
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/963/963.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob963">
+  <link name="random_obj_963">
+    <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="963.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.11 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="963_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/963/963_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/963/963_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/963/963_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/963/963_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/963/963_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79a7324b244680934ceb7e893ffebd1300d0bce
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/964/964.mtl b/external/rlbench/rlbench/assets/procedural_objects/964/964.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07dcc51a0b0ae7271940ade5717cf50e1145791a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/964/964.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 964_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.035677 0.511713 0.079925
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 964.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/964/964.obj b/external/rlbench/rlbench/assets/procedural_objects/964/964.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5da26b0b3615f6616a6e31867c7e4d165817e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/964/964.obj
@@ -0,0 +1,190 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 964.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/964/964.png b/external/rlbench/rlbench/assets/procedural_objects/964/964.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/964/964.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/964/964.urdf b/external/rlbench/rlbench/assets/procedural_objects/964/964.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f96d947d7ff8dac9b067f70b02cc60afdc161e57
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/964/964.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob964">
+  <link name="random_obj_964">
+    <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="0.1024"/>
+      <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="964.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.03 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="964_coll.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/964/964_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/964/964_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/964/964_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/964/964_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/964/964_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19bc0610b7f3d53f80d4c2817365addf7abccc5b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/964/964_coll.obj
@@ -0,0 +1,417 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/965/965.mtl b/external/rlbench/rlbench/assets/procedural_objects/965/965.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2df14dd3320b8f7a1c4f451338e844c13526350
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/965/965.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 965_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.071058 0.544813 0.407739
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 965.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/965/965.obj b/external/rlbench/rlbench/assets/procedural_objects/965/965.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25e663c31108b784570159cceadc856709c62358
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/965/965.obj
@@ -0,0 +1,1899 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 965.mtl
+o 965_Cube.3903
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/965/965.png b/external/rlbench/rlbench/assets/procedural_objects/965/965.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/965/965.urdf b/external/rlbench/rlbench/assets/procedural_objects/965/965.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..341bbd26b29a928607b16c12d906fab359e1ca01
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/965/965.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob965">
+  <link name="random_obj_965">
+    <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="0.0973"/>
+      <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="965.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.85 0.73 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="965_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/965/965_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/965/965_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/965/965_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/965/965_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/965/965_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a256a7fe6fbdfe5e373d69ab08470e5d3c7d2fe
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/966/966.mtl b/external/rlbench/rlbench/assets/procedural_objects/966/966.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6a1bc354c8e94f685ed2eb47895f3d2f841ef9b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/966/966.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 966_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.543556 0.007766 0.288797
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+map_Kd 966.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/966/966.obj b/external/rlbench/rlbench/assets/procedural_objects/966/966.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92904c980abc54f1890b04351a1da141e34e59aa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/966/966.obj
@@ -0,0 +1,233 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/966/966.png b/external/rlbench/rlbench/assets/procedural_objects/966/966.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/966/966.urdf b/external/rlbench/rlbench/assets/procedural_objects/966/966.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..495179ebaefc8c4d5ea51ff111f2a0df2b155e0b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/966/966.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob966">
+  <link name="random_obj_966">
+    <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="0.0513"/>
+      <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="966.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.85 0.58 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="966_coll.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/966/966_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/966/966_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/966/966_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/966/966_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/966/966_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7979712ed6f7393fc2f3fffb46e3875233edae22
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/966/966_coll.obj
@@ -0,0 +1,372 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/967/967.mtl b/external/rlbench/rlbench/assets/procedural_objects/967/967.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce2286a132f40eeacdb848da6154635a3b827190
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/967/967.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 967_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 967.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/967/967.obj b/external/rlbench/rlbench/assets/procedural_objects/967/967.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beff84ce44438917fa686376d1e2fd45a0682365
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/967/967.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/967/967.png b/external/rlbench/rlbench/assets/procedural_objects/967/967.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/967/967.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/967/967.urdf b/external/rlbench/rlbench/assets/procedural_objects/967/967.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..720545801a4210bd18030cc7190b9b96085d8c01
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/967/967.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob967">
+  <link name="random_obj_967">
+    <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="0.1903"/>
+      <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="967.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.35 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="967_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/967/967_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/967/967_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/967/967_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/967/967_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/967/967_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c9573fd0f81f757724f09925e6b48680ca0d56
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/967/967_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/968/968.mtl b/external/rlbench/rlbench/assets/procedural_objects/968/968.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41173c8b449778fc198a71cd5ff4bfe341652002
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/968/968.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 968_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.107860 0.057718 0.236762
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 968.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/968/968.obj b/external/rlbench/rlbench/assets/procedural_objects/968/968.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84497dac5fc683f1c2efba102719eb95ea4a2c88
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/968/968.obj
@@ -0,0 +1,5262 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/968/968.png b/external/rlbench/rlbench/assets/procedural_objects/968/968.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/968/968.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/968/968.urdf b/external/rlbench/rlbench/assets/procedural_objects/968/968.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82ce94e2cceecae8868cb531c89f13d70c0ebf8a
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/968/968.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob968">
+  <link name="random_obj_968">
+    <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="0.0918"/>
+      <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="968.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.83 0.30 0.73 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="968_coll.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/968/968_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/968/968_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/968/968_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/968/968_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/968/968_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9351f858b734b948315105fe604567c509243a1
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/968/968_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/969/969.mtl b/external/rlbench/rlbench/assets/procedural_objects/969/969.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d72c32e6b21c427a3be7d19ad7ca49a115446255
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/969/969.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 969_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.410559 0.696906 0.302616
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 969.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/969/969.obj b/external/rlbench/rlbench/assets/procedural_objects/969/969.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a10f897b666c5ae50b54602e409d0421ee2dbdc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/969/969.obj
@@ -0,0 +1,2655 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/969/969.png b/external/rlbench/rlbench/assets/procedural_objects/969/969.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/969/969.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/969/969.urdf b/external/rlbench/rlbench/assets/procedural_objects/969/969.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23a85f0052cae3d2a48bdf86fa1d080214d62f12
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/969/969.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob969">
+  <link name="random_obj_969">
+    <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="0.0619"/>
+      <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="969.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.15 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="969_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/969/969_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/969/969_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/969/969_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/969/969_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/969/969_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b85cf4521f452aa5b53c5a7f61967cfd897789f
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/969/969_coll.obj
@@ -0,0 +1,720 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/970/970.mtl b/external/rlbench/rlbench/assets/procedural_objects/970/970.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..569f47dede9e3d308ee98df1ef1565727942ef9e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/970/970.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 970_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.404361 0.369625 0.192570
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 970.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/970/970.obj b/external/rlbench/rlbench/assets/procedural_objects/970/970.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19855a0fc87e8fecc94af1e181fe85434507ecb9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/970/970.obj
@@ -0,0 +1,265 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 970.mtl
+o 970_Cube.3921
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/970/970.png b/external/rlbench/rlbench/assets/procedural_objects/970/970.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/970/970.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/970/970.urdf b/external/rlbench/rlbench/assets/procedural_objects/970/970.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99a065da39a5f906111c22aeaca7bbd3d221c20b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/970/970.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob970">
+  <link name="random_obj_970">
+    <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="970.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.68 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="970_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/970/970_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/970/970_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/970/970_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/970/970_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/970/970_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b196e2981e3c324509cdf5cbb3829e57e3f4018c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/970/970_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/971/971.mtl b/external/rlbench/rlbench/assets/procedural_objects/971/971.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01773eb54f12af7a7abc73190504815023e311c5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/971/971.mtl
@@ -0,0 +1,12 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/971/971.obj b/external/rlbench/rlbench/assets/procedural_objects/971/971.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c2f716aafe9264b9015c566dee666aec9e46ec
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/971/971.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/971/971.png b/external/rlbench/rlbench/assets/procedural_objects/971/971.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/971/971.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/971/971.urdf b/external/rlbench/rlbench/assets/procedural_objects/971/971.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..907584a344dd751fabff64dfb13c58b4517ee9de
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/971/971.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob971">
+  <link name="random_obj_971">
+    <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="0.1011"/>
+      <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="971.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.78 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="971_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/971/971_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/971/971_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/971/971_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/971/971_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/971/971_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0e567184262b098343515e58e0de45f7bccc15
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/972/972.mtl b/external/rlbench/rlbench/assets/procedural_objects/972/972.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d90e49413c026f4140776e980eaac99182694a47
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/972/972.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 972_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.068867 0.398443 0.093937
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 972.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/972/972.obj b/external/rlbench/rlbench/assets/procedural_objects/972/972.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0596e77e3fac2a7960e319b8b94273261382d127
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/972/972.obj
@@ -0,0 +1,4940 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/972/972.png b/external/rlbench/rlbench/assets/procedural_objects/972/972.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/972/972.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/972/972.urdf b/external/rlbench/rlbench/assets/procedural_objects/972/972.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb24a825d94beca30fa9e76b87e105732675cdf0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/972/972.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob972">
+  <link name="random_obj_972">
+    <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="0.0799"/>
+      <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="972.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.12 0.72 0.89 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="972_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/972/972_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/972/972_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/972/972_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/972/972_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/972/972_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ec37f6a0f7f08d1e7fba0e7aa6d760c3808bd6
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/973/973.mtl b/external/rlbench/rlbench/assets/procedural_objects/973/973.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9d78e3296b258c749032b77ab613fcf85ae65b5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/973/973.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 973_mtl
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+map_Kd 973.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/973/973.obj b/external/rlbench/rlbench/assets/procedural_objects/973/973.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d60c482e39b8330575cee9ff29e980633882377
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/973/973.obj
@@ -0,0 +1,143 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/973/973.png b/external/rlbench/rlbench/assets/procedural_objects/973/973.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/973/973.urdf b/external/rlbench/rlbench/assets/procedural_objects/973/973.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5048ff7856e4cf6830592484cd7a9cc4241febbf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/973/973.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob973">
+  <link name="random_obj_973">
+    <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="0.0941"/>
+      <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="973.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.29 0.34 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="973_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/973/973_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/973/973_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/973/973_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/973/973_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/973/973_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b0544eaf939e7b237abe69ec38ff51a992373b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/973/973_coll.obj
@@ -0,0 +1,189 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/974/974.mtl b/external/rlbench/rlbench/assets/procedural_objects/974/974.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..88be20001a8b47a296303498ddf5446a9cb07afb
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/974/974.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 974_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.718264 0.698801 0.022346
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/974/974.obj b/external/rlbench/rlbench/assets/procedural_objects/974/974.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5646073f24915a2b88b2af24a3927dba685e5f15
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/974/974.obj
@@ -0,0 +1,281 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/974/974.png b/external/rlbench/rlbench/assets/procedural_objects/974/974.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/974/974.urdf b/external/rlbench/rlbench/assets/procedural_objects/974/974.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..25d6501c8a555c228fe91fd713dc782e68bf0c98
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/974/974.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob974">
+  <link name="random_obj_974">
+    <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="0.0855"/>
+      <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="974.obj" scale="0.0057 0.0057 0.0057"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.80 0.70 0.32 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="974_coll.obj" scale="0.0057 0.0057 0.0057"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/974/974_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/974/974_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/974/974_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/974/974_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/974/974_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2e1edf07192e7aa53bcc7433bf82ff95fe3cc7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/974/974_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/975/975.mtl b/external/rlbench/rlbench/assets/procedural_objects/975/975.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..077e7bf7a4dda3567b76d2fb247b5afe3e727896
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/975/975.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 975_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.077288 0.060483 0.284265
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 975.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/975/975.obj b/external/rlbench/rlbench/assets/procedural_objects/975/975.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c1e772201870a75c29ed43fc9ff342831545f7
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/975/975.obj
@@ -0,0 +1,5964 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/975/975.png b/external/rlbench/rlbench/assets/procedural_objects/975/975.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/975/975.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/975/975.urdf b/external/rlbench/rlbench/assets/procedural_objects/975/975.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2564d9544754e6136594c6956aa2d35685753a53
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/975/975.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob975">
+  <link name="random_obj_975">
+    <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="0.0791"/>
+      <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="975.obj" scale="0.0105 0.0105 0.0105"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.54 0.65 0.89 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="975_coll.obj" scale="0.0105 0.0105 0.0105"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/975/975_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/975/975_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/975/975_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/975/975_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/975/975_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5142031fb0035ebe6e6c4902d9ba41df99aabf05
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/975/975_coll.obj
@@ -0,0 +1,690 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/976/976.mtl b/external/rlbench/rlbench/assets/procedural_objects/976/976.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36b626a6f167fbb8c16404767811177f56b0a4ae
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/976/976.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 976_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.020706 0.065599 0.259395
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 976.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/976/976.obj b/external/rlbench/rlbench/assets/procedural_objects/976/976.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41188fcef011c0ac924738aa997ff41b78295ae5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/976/976.obj
@@ -0,0 +1,2619 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/976/976.png b/external/rlbench/rlbench/assets/procedural_objects/976/976.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/976/976.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/976/976.urdf b/external/rlbench/rlbench/assets/procedural_objects/976/976.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4c8e483114958eaa5509c91ec4c53d225fb495cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/976/976.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob976">
+  <link name="random_obj_976">
+    <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="976.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.24 0.81 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="976_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/976/976_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/976/976_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/976/976_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/976/976_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/976/976_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e97c2d791eeef74c37b23ede1fbe6458768eaa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/976/976_coll.obj
@@ -0,0 +1,909 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/977/977.mtl b/external/rlbench/rlbench/assets/procedural_objects/977/977.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92a71d5467fa225d4b1c2d1329346a48f7f3998b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/977/977.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 977_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.547385 0.006024 0.186444
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 977.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/977/977.obj b/external/rlbench/rlbench/assets/procedural_objects/977/977.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a64525b55fa90be352886125f0ad4cd3f20cf6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/977/977.obj
@@ -0,0 +1,300 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 977.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/977/977.png b/external/rlbench/rlbench/assets/procedural_objects/977/977.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/977/977.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/977/977.urdf b/external/rlbench/rlbench/assets/procedural_objects/977/977.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb0ea178fd25603b004ca0403f101bb63630e89b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/977/977.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob977">
+  <link name="random_obj_977">
+    <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="0.1242"/>
+      <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="977.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.25 0.99 0.33 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="977_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/977/977_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/977/977_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/977/977_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/977/977_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/977/977_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2f22a3bca409daa77abd324e2ff0151598b0f8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/977/977_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/978/978.mtl b/external/rlbench/rlbench/assets/procedural_objects/978/978.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b0e6304102c0cdc5a1650db9d32f87f28e4152c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/978/978.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 978_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.120566 0.156056 0.249308
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 978.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/978/978.obj b/external/rlbench/rlbench/assets/procedural_objects/978/978.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ceb2f718830fc163dac2a8506b4b8474edc6118
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/978/978.obj
@@ -0,0 +1,300 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 978.mtl
+o 978_Cube.3948
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+usemtl 978_mtl
+s off
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/978/978.png b/external/rlbench/rlbench/assets/procedural_objects/978/978.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/978/978.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/978/978.urdf b/external/rlbench/rlbench/assets/procedural_objects/978/978.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4eb02fa98ab5470137cb663d7113a41dc5a7d836
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/978/978.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob978">
+  <link name="random_obj_978">
+    <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="978.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.92 0.00 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="978_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/978/978_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/978/978_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/978/978_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/978/978_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/978/978_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f3d82d5e6162278ab5d3f39847dbbaf1f4cce05
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/979/979.mtl b/external/rlbench/rlbench/assets/procedural_objects/979/979.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..32e21e38e6074752afd66b046fdaef9e7cf0ff40
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/979/979.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/979/979.obj b/external/rlbench/rlbench/assets/procedural_objects/979/979.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9993af5daf3c6b35f5e087eb8ee571db589a630e
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/979/979.png b/external/rlbench/rlbench/assets/procedural_objects/979/979.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/979/979.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/979/979.urdf b/external/rlbench/rlbench/assets/procedural_objects/979/979.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8097816b43a8660a1cedacdf15c533dfb82c3e5b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/979/979.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob979">
+  <link name="random_obj_979">
+    <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="0.1235"/>
+      <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="979.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.61 0.86 0.37 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="979_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/979/979_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/979/979_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/979/979_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/979/979_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/979/979_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb94b937e531187daddab742447ec1adfcac565
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/979/979_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/980/980.mtl b/external/rlbench/rlbench/assets/procedural_objects/980/980.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4278414449579da1ee717f2f7850e16b73e9b449
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/980/980.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/980/980.obj b/external/rlbench/rlbench/assets/procedural_objects/980/980.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c3ccd34c2fc31c409a5a118179d4cecadcd342
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/980/980.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/980/980.png b/external/rlbench/rlbench/assets/procedural_objects/980/980.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/980/980.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/980/980.urdf b/external/rlbench/rlbench/assets/procedural_objects/980/980.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a9e451d2b3fd16f4af630434990887a80d665c4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/980/980.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob980">
+  <link name="random_obj_980">
+    <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="980.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.49 0.80 0.79 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="980_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/980/980_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/980/980_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/980/980_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/980/980_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/980/980_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e5a3f188afc7f166194e61c5cd4a87c3958f3e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/980/980_coll.obj
@@ -0,0 +1,792 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/981/981.mtl b/external/rlbench/rlbench/assets/procedural_objects/981/981.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..08855593fba36d083035f42142c6720faef9b6dd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/981/981.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 981_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 981.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/981/981.obj b/external/rlbench/rlbench/assets/procedural_objects/981/981.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861d8c6a8a7f34a7003e1970685e0fcda1dcf8b8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/981/981.obj
@@ -0,0 +1,289 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 981.mtl
+o 981_Cube.3958
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/981/981.png b/external/rlbench/rlbench/assets/procedural_objects/981/981.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/981/981.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/981/981.urdf b/external/rlbench/rlbench/assets/procedural_objects/981/981.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01447c18ba7dee37a94216ebefb297794bc6b302
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/981/981.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob981">
+  <link name="random_obj_981">
+    <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="0.0789"/>
+      <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="981.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.13 0.98 0.21 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="981_coll.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/981/981_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/981/981_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/981/981_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/981/981_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/981/981_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7463878ec0fd19219bf22b44fe154e4c34f2add2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/981/981_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/982/982.mtl b/external/rlbench/rlbench/assets/procedural_objects/982/982.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8cc54dd12563f5839fb934851f3ae254eed6bf6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/982/982.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 982_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 982.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/982/982.obj b/external/rlbench/rlbench/assets/procedural_objects/982/982.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e011d2cf635ac3c9c0c37ed7dc6a2ed03e82c7b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/982/982.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
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new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/982/982.urdf b/external/rlbench/rlbench/assets/procedural_objects/982/982.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e33a9170107edab75b7fc7209269726fe305440
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/982/982.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_982">
+    <contact>
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+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
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+      <mass value="0.1447"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
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+      <geometry>
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+      </geometry>
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="982_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/982/982_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/982/982_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/982/982_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/982/982_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10406c2ca32530218405a7d3a271cbe11ad3b18
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/983/983.mtl b/external/rlbench/rlbench/assets/procedural_objects/983/983.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d3f4af1b95a85ebea55a5a43cd48f52983ebead
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/983/983.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 983_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 983.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/983/983.obj b/external/rlbench/rlbench/assets/procedural_objects/983/983.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5a7c763ae91fabd59a39c123515348a89dab77
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/983/983.obj
@@ -0,0 +1,1262 @@
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/983/983.png b/external/rlbench/rlbench/assets/procedural_objects/983/983.png
new file mode 100644
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/983/983.urdf b/external/rlbench/rlbench/assets/procedural_objects/983/983.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9bed60d757d00b5d64ab5004549463941b2e50cd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/983/983.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob983">
+  <link name="random_obj_983">
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+      <mass value="0.1400"/>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="983.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="983_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/983/983_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/983/983_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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+# Material Count: 1
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/983/983_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/983/983_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5be74e191be35cbfca9e414790eecd857f00178
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/984/984.mtl b/external/rlbench/rlbench/assets/procedural_objects/984/984.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da68dfdb740c34535287e3f65d5f707d69053b48
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/984/984.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 984_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.210550 0.055235 0.562803
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 984.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/984/984.obj b/external/rlbench/rlbench/assets/procedural_objects/984/984.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11809957ee3a85a5e8abd1d402bdac58c2f5143e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/984/984.obj
@@ -0,0 +1,7020 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/984/984.png b/external/rlbench/rlbench/assets/procedural_objects/984/984.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/984/984.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/984/984.urdf b/external/rlbench/rlbench/assets/procedural_objects/984/984.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3814140de79ec12954ad2152bb1e091fbcca75c5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/984/984.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob984">
+  <link name="random_obj_984">
+    <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="0.0887"/>
+      <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="984.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.42 0.61 0.84 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="984_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/984/984_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/984/984_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/984/984_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/984/984_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/984/984_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40a13e6266ffd2a12285a830093060bfa4bdaa08
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/984/984_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/985/985.mtl b/external/rlbench/rlbench/assets/procedural_objects/985/985.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1439218f0a61aa1111972aa047dc32ef6f8bd309
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/985/985.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 985_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 985.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/985/985.obj b/external/rlbench/rlbench/assets/procedural_objects/985/985.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef9ef1b7ea74182ada74b0a2ce813bd92da00a2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/985/985.obj
@@ -0,0 +1,417 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/985/985.png b/external/rlbench/rlbench/assets/procedural_objects/985/985.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/985/985.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/985/985.urdf b/external/rlbench/rlbench/assets/procedural_objects/985/985.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6848e08d10bc2268c407ae0977ebe1065263b09b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/985/985.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob985">
+  <link name="random_obj_985">
+    <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="985.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.82 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="985_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/985/985_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/985/985_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/985/985_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/985/985_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/985/985_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f464e9af29902aabb3d08f8653b86ae1c83806
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/985/985_coll.obj
@@ -0,0 +1,285 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/986/986.mtl b/external/rlbench/rlbench/assets/procedural_objects/986/986.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa7c3ee4f14f3fb21f5d8dd0bf5aa351b93ca95b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/986/986.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 986_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.620565 0.458965 0.199377
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 986.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/986/986.obj b/external/rlbench/rlbench/assets/procedural_objects/986/986.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ef78c1b878842380e01ceeba577992e05ff93c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/986/986.obj
@@ -0,0 +1,5332 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 986.mtl
+o 986_Cube.3977
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/986/986.png b/external/rlbench/rlbench/assets/procedural_objects/986/986.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/986/986.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/986/986.urdf b/external/rlbench/rlbench/assets/procedural_objects/986/986.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ad7897d9c991e2a5f7b418c448185b3e3f3bc1f5
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/986/986.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob986">
+  <link name="random_obj_986">
+    <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="986.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.32 0.38 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="986_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/986/986_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/986/986_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/986/986_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/986/986_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/986/986_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdf531c410a261598a23897f91f76279571a383
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/986/986_coll.obj
@@ -0,0 +1,1257 @@
+o convex_0
+v 1.508960 0.001781 -2.321568
+v 1.402445 5.538372 0.127605
+v 1.455645 5.325988 0.074181
+v 1.349245 -0.690691 -1.362799
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/987/987.mtl b/external/rlbench/rlbench/assets/procedural_objects/987/987.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f89ad2a1990185e7e661415bf7de5a76ed97281b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/987/987.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 987_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.298125 0.040390 0.294164
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 987.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/987/987.obj b/external/rlbench/rlbench/assets/procedural_objects/987/987.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2b366384850ec7e90482ecb49a8a24e895dfd6e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/987/987.obj
@@ -0,0 +1,577 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 987.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/987/987.png b/external/rlbench/rlbench/assets/procedural_objects/987/987.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/987/987.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/987/987.urdf b/external/rlbench/rlbench/assets/procedural_objects/987/987.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90cd0569c7e1d8345c88f394afef0c73e5e445fd
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/987/987.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob987">
+  <link name="random_obj_987">
+    <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="0.1236"/>
+      <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="987.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.83 0.98 0.73 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="987_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/987/987_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/987/987_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/987/987_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/987/987_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/987/987_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4c86326c47a70e89a1117eb47707c5b5eff36c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/987/987_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/988/988.mtl b/external/rlbench/rlbench/assets/procedural_objects/988/988.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91b4fbdbe7f44d766569e66a1cf7b2c160f80010
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/988/988.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 988_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.476711 0.059980 0.100332
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 988.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/988/988.obj b/external/rlbench/rlbench/assets/procedural_objects/988/988.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9782bf92a8477046c54eb7affdf4119a7633fa48
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/988/988.obj
@@ -0,0 +1,430 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/988/988.png b/external/rlbench/rlbench/assets/procedural_objects/988/988.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/988/988.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/988/988.urdf b/external/rlbench/rlbench/assets/procedural_objects/988/988.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01a39efad72dcd08b8075ee2bc045ad1e15da099
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/988/988.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob988">
+  <link name="random_obj_988">
+    <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="988.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.68 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="988_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/988/988_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/988/988_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/988/988_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/988/988_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/988/988_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b04137cf4c7fa497dc8adaa9e60f9a0efffd5c3
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/989/989.mtl b/external/rlbench/rlbench/assets/procedural_objects/989/989.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01ac557df7e569c07081d32d1d76d425e26a76ae
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/989/989.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 989_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.739879 0.261834 0.637467
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 989.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/989/989.obj b/external/rlbench/rlbench/assets/procedural_objects/989/989.obj
new file mode 100644
index 0000000000000000000000000000000000000000..747bc5a33090a670dca6a2f573928a952e36e545
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/989/989.obj
@@ -0,0 +1,261 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 989.mtl
+o 989_Cube.3990
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/989/989.png b/external/rlbench/rlbench/assets/procedural_objects/989/989.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/989/989.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/989/989.urdf b/external/rlbench/rlbench/assets/procedural_objects/989/989.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36bf81f1855c51e45053495e7688216d5c0f7ba8
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/989/989.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob989">
+  <link name="random_obj_989">
+    <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="0.0583"/>
+      <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="989.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.82 0.59 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="989_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/989/989_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/989/989_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/989/989_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/989/989_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/989/989_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803ffe1d3608b9a6aa86da9e25dae061004421e9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/989/989_coll.obj
@@ -0,0 +1,312 @@
+o convex_0
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/990/990.mtl b/external/rlbench/rlbench/assets/procedural_objects/990/990.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..138de99c072b1d567ff1d9e0a22e629a99e49fd2
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/990/990.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 990_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.086670 0.122351 0.211541
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 990.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/990/990.obj b/external/rlbench/rlbench/assets/procedural_objects/990/990.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71bd09c265da9a21a089e82b0f26104f4b47e6e4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/990/990.obj
@@ -0,0 +1,5189 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/990/990.png b/external/rlbench/rlbench/assets/procedural_objects/990/990.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/990/990.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/990/990.urdf b/external/rlbench/rlbench/assets/procedural_objects/990/990.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eee14fe76daba91e359dbda6290290b1253cbb01
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/990/990.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob990">
+  <link name="random_obj_990">
+    <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="0.0739"/>
+      <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="990.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.86 0.11 0.76 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="990_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/990/990_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/990/990_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/990/990_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/990/990_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/990/990_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e54e7f42763bc04b91094716bcfe6d8eff26b4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/990/990_coll.obj
@@ -0,0 +1,990 @@
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/991/991.mtl b/external/rlbench/rlbench/assets/procedural_objects/991/991.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..558d327e39ab8040b46cd142956d37f438aa0577
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/991/991.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 991_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.176737 0.049711 0.346505
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 991.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/991/991.obj b/external/rlbench/rlbench/assets/procedural_objects/991/991.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45056369cfed56c419cfcf52995b1f708d4db6d0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/991/991.obj
@@ -0,0 +1,473 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 991.mtl
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/991/991.png b/external/rlbench/rlbench/assets/procedural_objects/991/991.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/991/991.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/991/991.urdf b/external/rlbench/rlbench/assets/procedural_objects/991/991.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4170734a076e9bf829a06b1c7b86775102b53a49
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/991/991.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob991">
+  <link name="random_obj_991">
+    <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="0.0966"/>
+      <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="991.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.10 0.79 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="991_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/991/991_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/991/991_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/991/991_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/991/991_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/991/991_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb2d0da002ac11c12fc2cb65022c7e3bdd3e7cd
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/992/992.mtl b/external/rlbench/rlbench/assets/procedural_objects/992/992.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..925199afb2f5d1ee77e3da5cdeb742a575699eb6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/992/992.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 992_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.664254 0.550026 0.265288
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 992.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/992/992.obj b/external/rlbench/rlbench/assets/procedural_objects/992/992.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25aea675fcce805548eca95e780395f8a31a27c3
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/992/992.obj
@@ -0,0 +1,5435 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/992/992.png b/external/rlbench/rlbench/assets/procedural_objects/992/992.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/992/992.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/992/992.urdf b/external/rlbench/rlbench/assets/procedural_objects/992/992.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0c4df471aad71af1ddbcec3f83f35b1cb1f788b4
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/992/992.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob992">
+  <link name="random_obj_992">
+    <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="992.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.31 0.73 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="992_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/992/992_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/992/992_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/992/992_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/992/992_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/992/992_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0e7de3beb571d5f0f65b06d3e3bc97789a36c77
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/992/992_coll.obj
@@ -0,0 +1,1320 @@
+o convex_0
+v -2.964323 -7.875513 5.243689
+v -5.673343 -8.076306 1.531294
+v -6.174981 -8.477585 2.434624
+v -3.315555 -5.869430 1.581635
+v -2.161872 -7.474234 1.531294
+v -5.874169 -8.879172 5.243689
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/993/993.mtl b/external/rlbench/rlbench/assets/procedural_objects/993/993.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..358cd305883d8ce42c644dfae5b5710b1e75688b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/993/993.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 993_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.109538 0.377012 0.463757
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 993.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/993/993.obj b/external/rlbench/rlbench/assets/procedural_objects/993/993.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51cf1de632f4f507e1fab542cd258a8f5598c397
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/993/993.obj
@@ -0,0 +1,274 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 993.mtl
+o 993_Cube.4007
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/993/993.png b/external/rlbench/rlbench/assets/procedural_objects/993/993.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/993/993.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/993/993.urdf b/external/rlbench/rlbench/assets/procedural_objects/993/993.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff0ceb845aeb501fbb959d9fb264a932c7d60d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/993/993.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob993">
+  <link name="random_obj_993">
+    <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="993.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.00 0.80 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="993_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/993/993_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/993/993_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/993/993_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/993/993_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/993/993_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b210efb74e744535084b48f1316f6cfa803e1cf
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/993/993_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/994/994.mtl b/external/rlbench/rlbench/assets/procedural_objects/994/994.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42ee2b267e3b2a9066d708c4cf620891d803a6fe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/994/994.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 994_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 994.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/994/994.obj b/external/rlbench/rlbench/assets/procedural_objects/994/994.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb43245f1e67524b402df29a2b15db7b7745c4c
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/994/994.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/994/994.png b/external/rlbench/rlbench/assets/procedural_objects/994/994.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/994/994.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/994/994.urdf b/external/rlbench/rlbench/assets/procedural_objects/994/994.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a0f8fad1ab68087d6496152d43cd36aec8c0760b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/994/994.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob994">
+  <link name="random_obj_994">
+    <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="0.1364"/>
+      <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="994.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.78 0.72 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="994_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/994/994_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/994/994_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/994/994_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/994/994_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/994/994_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33363d4ef254b67a00143a088bf27afedea420ad
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/994/994_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/995/995.mtl b/external/rlbench/rlbench/assets/procedural_objects/995/995.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1981bb4f0102b611cf3a0f25db35676885f0398
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/995/995.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 995_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.018626 0.430406 0.750291
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 995.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/995/995.obj b/external/rlbench/rlbench/assets/procedural_objects/995/995.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c843cc72a1b75b077b1ea34814c4892fcd896b3e
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/995/995.obj
@@ -0,0 +1,328 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/995/995.png b/external/rlbench/rlbench/assets/procedural_objects/995/995.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/995/995.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/995/995.urdf b/external/rlbench/rlbench/assets/procedural_objects/995/995.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cac3dcc15ef457256a08a229911a7187c247e994
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/995/995.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob995">
+  <link name="random_obj_995">
+    <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="0.1073"/>
+      <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="995.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.92 0.58 0.30 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="995_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/995/995_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/995/995_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/995/995_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/995/995_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/995/995_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a01ac183c969ceca07885fcd3e50bcf1123dcd6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/995/995_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/996/996.mtl b/external/rlbench/rlbench/assets/procedural_objects/996/996.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fad5a1177884f13caa8682ae0d38bf5728afe3df
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/996/996.mtl
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+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 996.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/996/996.obj b/external/rlbench/rlbench/assets/procedural_objects/996/996.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9bb09d1fc8b2484a0c4a8fc1a4d6b1f43f061c6
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/996/996.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/996/996.png b/external/rlbench/rlbench/assets/procedural_objects/996/996.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/996/996.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/996/996.urdf b/external/rlbench/rlbench/assets/procedural_objects/996/996.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9ab9d91e8701a01d4cd46a02f95a9881bd7d07ad
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/996/996.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob996">
+  <link name="random_obj_996">
+    <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="996.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.07 0.53 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="996_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/996/996_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/996/996_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/996/996_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/996/996_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/996/996_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7816cc99c4a24fba8c8f0e9121361f0740e1a139
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/996/996_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/997/997.mtl b/external/rlbench/rlbench/assets/procedural_objects/997/997.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5f6bb7172f975a14c7f9bd8bf2e886e3fcebb9
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/997/997.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 997_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.196173 0.117531 0.287833
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 997.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/997/997.obj b/external/rlbench/rlbench/assets/procedural_objects/997/997.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10fca688cc43a78a2b8c3bb2c05567c3a20239dc
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/997/997.obj
@@ -0,0 +1,5850 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/997/997.png b/external/rlbench/rlbench/assets/procedural_objects/997/997.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/997/997.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/997/997.urdf b/external/rlbench/rlbench/assets/procedural_objects/997/997.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..00059602613f528d7f8f9aef3e9367f1011cffbe
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/997/997.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob997">
+  <link name="random_obj_997">
+    <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="0.0495"/>
+      <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="997.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.62 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="997_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/997/997_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/997/997_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/997/997_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/997/997_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/997/997_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e83c5fcb20d12e7c9b9171154c6d550d050e511
--- /dev/null
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/998/998.mtl b/external/rlbench/rlbench/assets/procedural_objects/998/998.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c52e9024b1680175f2055037fab783b0e7b6d79b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/998/998.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 998_mtl
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+illum 2
+map_Kd 998.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/998/998.obj b/external/rlbench/rlbench/assets/procedural_objects/998/998.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27eac24be88206b10656de78fec7a18ffdeb41d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/998/998.obj
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+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/998/998.png b/external/rlbench/rlbench/assets/procedural_objects/998/998.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/998/998.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/998/998.urdf b/external/rlbench/rlbench/assets/procedural_objects/998/998.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f64ee8d203d4c232b6da6125e9f5ca69b92b1ad0
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/998/998.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob998">
+  <link name="random_obj_998">
+    <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="0.0707"/>
+      <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="998.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.90 0.12 0.31 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="998_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/998/998_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/998/998_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/998/998_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/998/998_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/998/998_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea4e64e14b3f23a9974020f3d636ad464ed2251
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/998/998_coll.obj
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/999/999.mtl b/external/rlbench/rlbench/assets/procedural_objects/999/999.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8152cbb4cbd83c7688bc11f4586ecc1fe8bf2afa
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/999/999.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 999_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.295028 0.141853 0.134340
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 999.png
diff --git a/external/rlbench/rlbench/assets/procedural_objects/999/999.obj b/external/rlbench/rlbench/assets/procedural_objects/999/999.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0751a82dc9ba1dee404a9f45b82f3d1e855321
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/999/999.obj
@@ -0,0 +1,5864 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/external/rlbench/rlbench/assets/procedural_objects/999/999.png b/external/rlbench/rlbench/assets/procedural_objects/999/999.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/external/rlbench/rlbench/assets/procedural_objects/999/999.png differ
diff --git a/external/rlbench/rlbench/assets/procedural_objects/999/999.urdf b/external/rlbench/rlbench/assets/procedural_objects/999/999.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4bc9913a9b8c7c76113a91145efcba4da56a20d
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/999/999.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob999">
+  <link name="random_obj_999">
+    <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="0.1314"/>
+      <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="999.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.17 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="999_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/external/rlbench/rlbench/assets/procedural_objects/999/999_coll.mtl b/external/rlbench/rlbench/assets/procedural_objects/999/999_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/external/rlbench/rlbench/assets/procedural_objects/999/999_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/999/999_coll.obj b/external/rlbench/rlbench/assets/procedural_objects/999/999_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac9f749f293bfc4c7832167ccbb7f80a96276ea
--- /dev/null
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+f 111 99 123 
+f 88 78 124 
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+o convex_2
+v -1.028156 -3.193876 0.952746
+v -0.522408 -3.404634 -0.985768
+v -1.364760 -3.404634 -0.732827
+v -1.449332 -1.845547 -0.690702
+v 1.921337 -1.845547 0.362615
+v -1.955079 -1.845547 0.741741
+v 1.879262 -3.404634 -0.522202
+v 1.626388 -1.845547 -0.648387
+v 1.499741 -3.404634 0.741930
+v -2.334180 -3.404634 0.868306
+v 1.668464 -1.845547 0.699805
+v -1.870508 -1.845547 -0.395637
+v -1.870508 -3.404634 -0.437572
+v 1.879262 -3.404634 0.488990
+v 0.277868 -3.320239 -0.985768
+v -0.775282 -1.887973 -0.774763
+v -2.334180 -3.362360 0.362615
+v 1.879262 -1.845547 -0.479887
+v -2.039230 -1.845547 0.109864
+v -0.775282 -1.845547 0.784056
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+v 1.837186 -2.014336 0.657680
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+v 1.963413 -1.930094 0.151989
+v -1.238533 -2.098578 0.826181
+v -2.039230 -1.845547 0.446865
+v -1.702206 -3.404634 -0.606452
+v 1.963413 -3.404634 0.151989
+v -0.522408 -3.278118 -0.985768
+v 1.752615 -3.278118 0.657680
+v 1.921337 -2.646151 -0.437762
+v -2.334180 -3.320239 0.868306
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+v -1.617634 -3.362360 0.952746
+v 0.235792 -3.278118 -0.985768
+v 0.277868 -3.404634 -0.985768
+v -1.617634 -2.182820 -0.648577
+v 1.963413 -2.098578 -0.016511
+v -1.997155 -1.887973 0.741741
+v 1.879262 -3.067513 0.531115
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+f 139 157 164 
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+f 128 157 166 
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+f 152 147 167 
+f 159 142 167 
+f 147 159 167 
+f 151 130 168 
+f 130 154 168 
+f 160 151 168 
+f 154 160 168 
+f 129 149 169 
+f 156 129 169 
+f 138 156 169 
+f 158 138 169 
+o convex_3
+v -0.269462 5.022180 0.236207
+v -2.039531 -1.844854 0.151857
+v -0.395868 -1.845547 -0.732918
+v 1.837172 -1.844854 0.657656
+v 1.500219 1.778201 -0.480019
+v -1.238832 3.042251 -0.606394
+v -1.955002 -1.718726 0.742005
+v 1.584360 2.916123 0.615481
+v 1.879436 -1.844854 -0.480019
+v -1.407502 3.169072 0.488957
+v 0.530849 4.896052 -0.184945
+v -1.659926 -1.844854 -0.606394
+v 0.741396 2.410226 -0.606394
+v -1.280709 3.927225 -0.395670
+v -1.786332 1.778201 0.025631
+v 0.994208 -1.802581 -0.732918
+v -1.027897 -1.465778 0.784179
+v -0.817350 3.252926 0.573455
+v 1.626624 2.452500 -0.184945
+v 1.837172 1.063015 0.573306
+v 0.910066 4.643797 0.320407
+v -1.786332 0.304169 -0.437844
+v 0.235773 4.770617 -0.353495
+v 1.247019 4.137899 -0.058570
+v -0.395868 5.234241 -0.016247
+v 1.668501 2.410226 0.657656
+v -1.027897 -0.623078 -0.732918
+v -1.238832 4.264028 0.109683
+v -1.154303 1.946602 0.657507
+v 0.994208 3.758130 0.573306
+v 0.910066 4.011079 -0.395670
+v 1.668501 -1.844854 0.699830
+v 1.415690 -0.370129 -0.648569
+v -0.859615 4.011772 -0.522194
+v -1.744455 1.735927 0.446783
+v -1.533908 2.789302 -0.480019
+v -1.997267 -1.844854 0.699830
+v -0.227198 4.770617 0.362730
+v -1.575785 3.126798 0.194032
+v -0.985633 2.494080 -0.648569
+v -1.407502 1.652766 -0.648569
+v 1.921701 -1.592599 -0.269295
+v -0.775086 4.854472 -0.227120
+v 1.710766 0.051221 0.699830
+v -1.280709 -1.844854 -0.732918
+v -0.943756 4.306994 0.362582
+v 0.573114 5.065146 -0.058570
+v 1.921701 -1.844854 0.362582
+v -1.870861 -1.844854 -0.395670
+v -1.575785 1.778201 0.615332
+v 1.710766 -1.844854 -0.606246
+v -0.817350 -1.844854 0.784179
+v -0.395868 5.106728 -0.227120
+v 1.879436 -1.171249 -0.437844
+v -0.227198 -0.622385 -0.732918
+v -0.395868 5.234241 0.109683
+v 1.668501 2.704755 0.573306
+v 1.457954 2.704755 -0.353495
+v -1.659926 -0.370129 -0.606394
+v 1.500219 1.020741 -0.564220
+v -1.828596 1.399818 0.194032
+v -0.690944 3.716550 0.531280
+v 0.867802 3.842677 -0.437696
+v 1.457954 2.494773 0.657656
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+f 171 184 191 
+f 190 177 193 
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+f 189 195 213 
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+f 178 211 217 
+f 211 189 217 
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+f 187 179 219 
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+f 198 187 219 
+f 204 176 219 
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+f 186 176 221 
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+f 201 213 221 
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+f 203 212 222 
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+f 188 189 223 
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+f 185 196 224 
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+f 190 216 225 
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+f 188 193 226 
+f 193 177 226 
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+f 193 188 227 
+f 174 200 227 
+f 200 193 227 
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+f 205 210 228 
+f 214 181 228 
+f 210 214 228 
+f 181 218 228 
+f 218 191 228 
+f 202 182 229 
+f 220 202 229 
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+f 223 220 229 
+f 184 171 230 
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+f 192 200 232 
+f 182 203 232 
+f 203 192 232 
+f 174 229 232 
+f 229 182 232 
+f 186 195 233 
+f 198 186 233 
+f 195 199 233 
diff --git a/external/rlbench/rlbench/assets/small_container.ttm b/external/rlbench/rlbench/assets/small_container.ttm
new file mode 100644
index 0000000000000000000000000000000000000000..e7e6b14eb0c6ec72afce0ba7a4b914bdd153b902
Binary files /dev/null and b/external/rlbench/rlbench/assets/small_container.ttm differ
diff --git a/external/rlbench/rlbench/backend/__init__.py b/external/rlbench/rlbench/backend/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/external/rlbench/rlbench/backend/conditions.py b/external/rlbench/rlbench/backend/conditions.py
new file mode 100644
index 0000000000000000000000000000000000000000..363d2d64c7ed2f98a42e8f3f35da42dc6d33a8cc
--- /dev/null
+++ b/external/rlbench/rlbench/backend/conditions.py
@@ -0,0 +1,194 @@
+from typing import List
+import math
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.robots.end_effectors.gripper import Gripper
+
+
+class Condition(object):
+    def condition_met(self):
+        raise NotImplementedError()
+
+    def reset(self):
+        # Used if the conditions store any state.
+        pass
+
+
+class ColorCondition(object):
+    def _init_(self, shape: Shape, success_rgb: List[float]):
+        self.shape = shape
+        self.success_rgb = success_rgb
+
+    def condition_met(self):
+        obj_rgb = self.shape.get_color()
+        met = (obj_rgb == self.success_rgb)
+        return met, False
+
+
+class JointCondition(Condition):
+    def __init__(self, joint: Joint, position: float):
+        """in radians if revoloute, or meters if prismatic"""
+        self._joint = joint
+        self._original_pos = joint.get_joint_position()
+        self._pos = position
+
+    def condition_met(self):
+        met = math.fabs(
+            self._joint.get_joint_position() - self._original_pos) > self._pos
+        return met, False
+
+
+class DetectedCondition(Condition):
+    def __init__(self, obj: Object, detector: ProximitySensor,
+                 negated: bool = False):
+        self._obj = obj
+        self._detector = detector
+        self._negated = negated
+
+    def condition_met(self):
+        met = self._detector.is_detected(self._obj)
+        if self._negated:
+            met = not met
+        return met, False
+
+
+class NothingGrasped(Condition):
+    def __init__(self, gripper: Gripper):
+        self._gripper = gripper
+
+    def condition_met(self):
+        met = len(self._gripper.get_grasped_objects()) == 0
+        return met, False
+
+
+class GraspedCondition(Condition):
+    def __init__(self, gripper: Gripper, object: Object):
+        self._gripper = gripper
+        self._object_handle = object.get_handle()
+
+    def condition_met(self):
+        met = len([ob for ob in self._gripper.get_grasped_objects()
+                   if self._object_handle == ob.get_handle()]) > 0
+        return met, False
+
+
+class DetectedSeveralCondition(Condition):
+    def __init__(self, objects: List[Object], detector: ProximitySensor,
+                 number_needed: int):
+        self._objects = objects
+        self._detector = detector
+        self._number_needed = number_needed
+
+    def condition_met(self):
+        count = 0
+        for ob in self._objects:
+            if self._detector.is_detected(ob):
+                count += 1
+        met = False
+        if count >= self._number_needed:
+            met = True
+        return met, False
+
+
+class EmptyCondition(Condition):
+
+    def __init__(self, container: list):
+        self._container = container
+
+    def condition_met(self):
+        met = len(self._container) == 0
+        return met, False
+
+
+class FollowCondition(Condition):
+
+    def __init__(self, obj: Object, points: list,
+                 relative_to: Object = None, delta_limit: float = 0.01,
+                 start_after_first: bool = True):
+        self._obj = obj
+        self._ponts = points
+        self._relative_to = relative_to
+        self._delta_limit = delta_limit
+        self._start_after_first = start_after_first
+        self._index = 0
+        self._strikes = 0
+
+    def condition_met(self):
+        pos = self._obj.get_position(self._relative_to)
+        first = True
+        for i in range(self._index, len(self._ponts)):
+            p = self._ponts[i]
+            dist = math.sqrt((pos[0] - p[0]) ** 2 +
+                             (pos[1] - p[1]) ** 2 +
+                             (pos[2] - p[2]) ** 2)
+            # Check we aren't too far away from the next point
+            if dist > self._delta_limit:
+                # Check if we are ignoring until we reach the first point
+                if first and not (self._start_after_first and self._index == 0):
+                    # If it is the first point, then we have failed
+                    if self._strikes > 3:
+                        return False, True
+                    self._strikes += 1
+                # Otherwise we have looped at least once and we may
+                # still be following the path
+                return False, False
+            # Only advance if we are super close
+            elif dist > self._delta_limit * 0.5:
+                return False, False
+            self._index += 1
+            self._strikes = 0
+            first = False
+        return True, False
+
+
+class ConditionSet(Condition):
+    def __init__(self, conditions: List[Condition], order_matters: bool = False,
+                 simultaneously_met: bool = True):
+        """alternative would be sequentially met"""
+        self._conditions = conditions
+        self._order_matters = order_matters
+        self._simultaneously_met = simultaneously_met  # Probably wont use
+        self._current_condition_index = 0
+
+    def condition_met(self):
+        met = True
+        # term = False
+        if self._order_matters:
+            if self._current_condition_index < len(self._conditions):
+                for cond in self._conditions[self._current_condition_index:]:
+                    ismet, term = cond.condition_met()
+                    if not ismet:
+                        break
+                    self._current_condition_index += 1
+                # Check again to see if we have now completed the order
+                met = self._current_condition_index >= len(self._conditions)
+        else:
+            for cond in self._conditions:
+                ismet, term = cond.condition_met()
+                met &= ismet
+                # if term:
+                #     break
+        return met, False
+
+    def reset(self):
+        self._current_condition_index = 0
+
+
+class OrConditions(Condition):
+    def __init__(self, conditions: List[Condition]):
+        """Logical or over all conditions"""
+        self._conditions = conditions
+
+    def condition_met(self):
+        met = False
+        for cond in self._conditions:
+            ismet, term = cond.condition_met()
+            met |= ismet
+            if met:
+                break
+        return met, False
+
+    def reset(self):
+        self._current_condition_index = 0
\ No newline at end of file
diff --git a/external/rlbench/rlbench/backend/const.py b/external/rlbench/rlbench/backend/const.py
new file mode 100644
index 0000000000000000000000000000000000000000..cd3d9904e0588b23e994b1d1e8b07a4a1613b3d7
--- /dev/null
+++ b/external/rlbench/rlbench/backend/const.py
@@ -0,0 +1,32 @@
+IMAGE_FORMAT = '%d.png'
+
+LEFT_SHOULDER_RGB_FOLDER = 'left_shoulder_rgb'
+LEFT_SHOULDER_DEPTH_FOLDER = 'left_shoulder_depth'
+LEFT_SHOULDER_MASK_FOLDER = 'left_shoulder_mask'
+RIGHT_SHOULDER_RGB_FOLDER = 'right_shoulder_rgb'
+RIGHT_SHOULDER_DEPTH_FOLDER = 'right_shoulder_depth'
+RIGHT_SHOULDER_MASK_FOLDER = 'right_shoulder_mask'
+OVERHEAD_RGB_FOLDER = 'overhead_rgb'
+OVERHEAD_DEPTH_FOLDER = 'overhead_depth'
+OVERHEAD_MASK_FOLDER = 'overhead_mask'
+WRIST_RGB_FOLDER = 'wrist_rgb'
+WRIST_DEPTH_FOLDER = 'wrist_depth'
+WRIST_MASK_FOLDER = 'wrist_mask'
+FRONT_RGB_FOLDER = 'front_rgb'
+FRONT_DEPTH_FOLDER = 'front_depth'
+FRONT_MASK_FOLDER = 'front_mask'
+EPISODES_FOLDER = 'episodes'
+EPISODE_FOLDER = 'episode%d'
+VARIATIONS_FOLDER = 'variation%d'
+VARIATIONS_ALL_FOLDER = 'all_variations'
+
+LOW_DIM_PICKLE = 'low_dim_obs.pkl'
+VARIATION_DESCRIPTIONS = 'variation_descriptions.pkl'
+VARIATION_NUMBER = 'variation_number.pkl'
+
+TTT_FILE = 'task_design.ttt'
+BIMANUAL_TTT_FILE = 'task_design_bimanual.ttt'
+
+
+DEPTH_SCALE = 2**24 - 1
+
diff --git a/external/rlbench/rlbench/backend/exceptions.py b/external/rlbench/rlbench/backend/exceptions.py
new file mode 100644
index 0000000000000000000000000000000000000000..4f5599e3ad7b59efad203827621ca5f1d595b09a
--- /dev/null
+++ b/external/rlbench/rlbench/backend/exceptions.py
@@ -0,0 +1,29 @@
+class BoundaryError(Exception):
+    """Raised when a boundary error occurs."""
+    pass
+
+
+class WaypointError(Exception):
+    """Raised when we place a task but cant complete it with path planning."""
+    def __init__(self, message, task):
+        super().__init__('Error in task %s. %s' % (task.get_name(), message))
+
+
+class NoWaypointsError(Exception):
+    """Raised when there is no waypoints. So cant create demo."""
+    def __init__(self, message, task):
+        super().__init__('Error in task %s. %s' % (task.get_name(), message))
+
+
+class DemoError(Exception):
+    """Raised when getting demo."""
+    def __init__(self, message, task):
+        super().__init__('Error in task %s. %s' % (task.get_name(), message))
+
+
+class InvalidActionError(Exception):
+    pass
+
+
+class TaskEnvironmentError(Exception):
+    pass
diff --git a/external/rlbench/rlbench/backend/observation.py b/external/rlbench/rlbench/backend/observation.py
new file mode 100644
index 0000000000000000000000000000000000000000..68822826c9bd56e12285ddede678ea8a87864e8b
--- /dev/null
+++ b/external/rlbench/rlbench/backend/observation.py
@@ -0,0 +1,105 @@
+from abc import abstractmethod
+import numpy as np
+from typing import List
+from typing import Dict
+from typing import Any
+
+from dataclasses import dataclass
+from dataclasses import field
+from enum import Enum
+
+
+class ImageType(Enum):
+    RGB = 1
+    DEPTH = 2
+    MASK = 3
+
+@dataclass
+class CameraImage:
+    
+    name: str
+    dtype: ImageType
+    data: np.ndarray
+
+@dataclass
+class Observation:
+    """Storage for both visual and low-dimensional observations."""
+
+    #..todo:: replace
+
+    perception_data: Dict[str, np.ndarray]
+  
+    task_low_dim_state: np.ndarray
+    
+    misc: Dict[str, Any]
+
+    @property
+    @abstractmethod
+    def is_bimanual(self):
+        pass
+
+
+#..todo:: rename to ProprioceptionObservation
+
+@dataclass 
+class UnimanualObservationData:
+
+    joint_velocities: np.ndarray
+    joint_positions: np.ndarray
+    joint_forces: np.ndarray
+    gripper_open: float
+    gripper_pose: np.ndarray
+    gripper_matrix: np.ndarray
+    gripper_joint_positions: np.ndarray
+    gripper_touch_forces: np.ndarray
+
+    ignore_collisions: np.ndarray
+
+@dataclass
+class UnimanualObservation(UnimanualObservationData, Observation):
+    
+    
+    @Observation.is_bimanual.getter
+    def is_bimanual(self):
+        return False
+
+    def get_low_dim_data(self) -> np.ndarray:
+        """Gets a 1D array of all the low-dimensional obseervations.
+
+        :return: 1D array of observations.
+        """
+        low_dim_data = [] if self.gripper_open is None else [[self.gripper_open]]
+        for data in [self.joint_velocities, self.joint_positions,
+                     self.joint_forces,
+                     self.gripper_pose, self.gripper_joint_positions,
+                     self.gripper_touch_forces, self.task_low_dim_state]:
+            if data is not None:
+                low_dim_data.append(data)
+        return np.concatenate(low_dim_data) if len(low_dim_data) > 0 else np.array([])
+
+
+@dataclass
+class BimanualObservation(Observation):
+    
+    right: UnimanualObservationData = None
+    left: UnimanualObservationData = None
+
+    @Observation.is_bimanual.getter
+    def is_bimanual(self):
+        return True
+
+    def get_low_dim_data(self, robot: UnimanualObservationData) -> np.ndarray:
+        """Gets a 1D array of all the low-dimensional obseervations.
+
+        :return: 1D array of observations.
+        """
+        low_dim_data = [] if robot.gripper_open is None else [[robot.gripper_open]]
+        #for data in [robot.joint_velocities, robot.joint_positions,
+        #             robot.joint_forces,
+        #             robot.gripper_pose, robot.gripper_joint_positions,
+        #             robot.gripper_touch_forces, self.task_low_dim_state]:
+
+        for data in [robot.gripper_joint_positions]:
+            if data is not None:
+                low_dim_data.append(data)
+        return np.concatenate(low_dim_data) if len(low_dim_data) > 0 else np.array([])
diff --git a/external/rlbench/rlbench/backend/robot.py b/external/rlbench/rlbench/backend/robot.py
new file mode 100644
index 0000000000000000000000000000000000000000..e157d2a0ecce5ca6d6572a682c303026caf2a427
--- /dev/null
+++ b/external/rlbench/rlbench/backend/robot.py
@@ -0,0 +1,177 @@
+from pyrep.objects.object import Object
+from pyrep.robots.arms.arm import Arm
+from pyrep.robots.end_effectors.gripper import Gripper
+
+from abc import ABC
+from abc import abstractmethod
+
+import logging
+
+class Robot(ABC):
+    """Simple container for the robot components.
+    """
+
+    @property
+    @abstractmethod
+    def is_bimanual(self):
+        pass
+
+    @property
+    @abstractmethod
+    def initial_state(self):
+        pass
+
+
+    @abstractmethod
+    def release_gripper(self):
+        pass
+
+    @abstractmethod
+    def is_in_collision(self):
+        pass
+    
+    @abstractmethod
+    def zero_velocity(self):
+        pass
+
+    @abstractmethod
+    def actutate_gripper(self, amount: float, velocity: float, name: str):
+        pass
+
+    @abstractmethod
+    def grasp(self, obj: Object, name: str = None):
+        pass
+
+
+class UnimanualRobot(Robot):
+
+    def __init__(self, arm: Arm, gripper: Gripper):
+        self.arm = arm
+        self.gripper = gripper
+
+    def release_gripper(self):
+        self.gripper.release()
+
+    def initial_state(self):
+        return [self.arm.get_configuration_tree(), self.gripper.get_configuration_tree()]
+
+    def is_in_collision(self):
+        return self.arm.check_arm_collision()
+
+    def zero_velocity(self):
+        self.arm.set_joint_target_velocities([0] * len(self.arm.joints))
+        self.gripper.set_joint_target_velocities([0] * len(self.gripper.joints))
+
+    def actutate_gripper(self, amount: float, velocity: float, name: str = None):
+        return self.gripper.actuate(amount, velocity)
+
+    def grasp(self, obj: Object, name: str = None):
+        return self.gripper.grasp(obj)
+
+    @Robot.is_bimanual.getter
+    def is_bimanual(self):
+        return False
+    
+
+class BimanualRobot(Robot):
+
+    def __init__(self, right_arm: Arm, right_gripper: Gripper, left_arm: Arm, left_gripper: Gripper):
+        self.right_arm = right_arm
+        self.right_gripper = right_gripper
+        self.left_arm = left_arm
+        self.left_gripper = left_gripper
+
+    def colorize_gripper(self):
+        self.right_gripper.colorize([0, 0.8, 0])
+        self.left_gripper.colorize([0.8, 0, 0])
+
+
+    def hide(self, name: str = "both"):
+        if "both" in name:
+            self.right_arm.hide()
+            self.right_gripper.hide()
+            self.left_arm.hide()
+            self.left_gripper.hide()
+        elif "right" in name:
+            self.right_arm.hide()
+            self.right_gripper.hide()
+        elif "left" in name:
+            self.left_arm.hide()
+            self.left_gripper.hide()
+
+    def release_gripper(self, name: str = 'both'):
+        if 'both' in name:
+            self.right_gripper.release()
+            self.left_gripper.release()
+        elif 'right' in name:
+            self.right_gripper.release()
+        elif 'left' in name:
+            self.left_gripper.release()
+
+    def initial_state(self):
+        return [(self.right_arm.get_configuration_tree(),
+                self.right_gripper.get_configuration_tree()),
+                (self.left_arm.get_configuration_tree(),
+                self.left_gripper.get_configuration_tree())]
+
+    def is_in_collision(self):
+        return self.right_arm.check_arm_collision() or self.left_arm.check_arm_collision()
+
+    def zero_velocity(self):
+        self.right_arm.set_joint_target_velocities([0] * len(self.right_arm.joints))
+        self.right_gripper.set_joint_target_velocities([0] * len(self.right_gripper.joints))
+        self.left_arm.set_joint_target_velocities([0] * len(self.left_arm.joints))
+        self.left_gripper.set_joint_target_velocities([0] * len(self.left_gripper.joints))
+
+    def get_arms_by_name(self, name: str):
+        if 'right' in name:
+            return [self.right_arm]
+        if 'left' in name:
+            return [self.left_arm]
+        if 'both' in name:
+            return [self.right_arm, self.left_arm]
+
+    def actutate_gripper(self, amount: float, velocity: float, name: str ='both'):
+        logging.debug("actuating gripper for %s", name)
+        if 'right' in name:
+            return self.right_gripper.actuate(amount, velocity)
+        if 'left' in name:
+            return self.left_gripper.actuate(amount, velocity)
+        if 'both' in name:
+            right_done = self.right_gripper.actuate(amount, velocity)
+            left_done = self.left_gripper.actuate(amount, velocity)
+            return right_done and left_done
+        else:
+            logging.warning("invalid robot name %s", name)
+            return True
+
+    def grasp(self, obj: Object, name: str = None):
+        logging.debug("grasping with %s", name)
+        if 'right' in name:
+            if obj in self.left_gripper.get_grasped_objects():
+                logging.warning("Object %s is already grasped by left gripper", obj.get_name())
+                return False
+            else:
+                return self.right_gripper.grasp(obj)
+        if 'left' in name:
+            if obj in self.right_gripper.get_grasped_objects():
+                logging.warning("Object %s is already grasped by right gripper", obj.get_name())
+                return False
+            else:
+                return self.left_gripper.grasp(obj)
+        if 'both' in name:
+            # object can be only attached to one robot
+            if  obj in self.left_gripper.get_grasped_objects():
+                right_detected = False
+            else:
+                right_detected = self.right_gripper.grasp(obj)
+            if obj in self.right_gripper.get_grasped_objects():
+                left_detected = False
+            else:
+                left_detected = self.left_gripper.grasp(obj)
+            return right_detected or left_detected
+
+
+    @Robot.is_bimanual.getter
+    def is_bimanual(self):
+        return True
diff --git a/external/rlbench/rlbench/backend/scene.py b/external/rlbench/rlbench/backend/scene.py
new file mode 100644
index 0000000000000000000000000000000000000000..3898f17946c4339933b54c751a82a1355097131e
--- /dev/null
+++ b/external/rlbench/rlbench/backend/scene.py
@@ -0,0 +1,718 @@
+from typing import List, Callable
+
+import numpy as np
+from pyrep import PyRep
+from pyrep.const import ObjectType
+from pyrep.errors import ConfigurationPathError
+from pyrep.objects import Dummy
+from pyrep.objects.shape import Shape
+from pyrep.objects.vision_sensor import VisionSensor
+from pyrep.robots.arms.arm import Arm
+from pyrep.robots.arms.dual_panda import PandaLeft, PandaRight
+from pyrep.robots.end_effectors.gripper import Gripper
+
+from rlbench.backend.exceptions import (
+    WaypointError, BoundaryError, NoWaypointsError, DemoError)
+from rlbench.backend.observation import Observation
+from rlbench.backend.observation import UnimanualObservationData
+from rlbench.backend.observation import UnimanualObservation
+from rlbench.backend.observation import BimanualObservation
+
+from rlbench.backend.robot import Robot
+from rlbench.backend.robot import UnimanualRobot
+from rlbench.backend.robot import BimanualRobot
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+from rlbench.backend.utils import rgb_handles_to_mask
+from rlbench.demo import Demo
+from rlbench.noise_model import NoiseModel
+from rlbench.observation_config import ObservationConfig, CameraConfig
+
+STEPS_BEFORE_EPISODE_START = 10
+
+import logging
+
+
+class Scene(object):
+    """Controls what is currently in the vrep scene. This is used for making
+    sure that the tasks are easily reachable. This may be just replaced by
+    environment. Responsible for moving all the objects. """
+
+    def __init__(self,
+                 pyrep: PyRep,
+                 robot: Robot,
+                 obs_config: ObservationConfig = ObservationConfig(),
+                 robot_setup: str = 'panda'):
+        self.pyrep = pyrep
+        self.robot = robot
+        self.robot_setup = robot_setup
+        self.task = None
+        self._obs_config = obs_config
+        self._initial_task_state = None
+
+        if self.robot.is_bimanual:
+            self._start_arm_joint_pos = [robot.right_arm.get_joint_positions(), robot.left_arm.get_joint_positions()]
+            self._starting_gripper_joint_pos = [robot.right_gripper.get_joint_positions(), robot.left_gripper.get_joint_positions()]
+        else:
+            self._start_arm_joint_pos = robot.arm.get_joint_positions()
+            self._starting_gripper_joint_pos = robot.gripper.get_joint_positions()
+    
+        self._workspace = Shape('workspace')
+        self._workspace_boundary = SpawnBoundary([self._workspace])
+
+        self.camera_sensors = {camera_name: VisionSensor(f"cam_{camera_name}") for camera_name, _ in self._obs_config.camera_configs.items()}
+        self.camera_sensors_mask = {camera_name: VisionSensor(f'cam_{camera_name}_mask') for camera_name, _ in self._obs_config.camera_configs.items()}
+
+
+        self._has_init_task = self._has_init_episode = False
+        self._variation_index = 0
+
+        # ..todo:: fixme convert to a list
+        if self.robot.is_bimanual:
+            self._initial_robot_state = [(robot.right_arm.get_configuration_tree(),
+                                     robot.right_gripper.get_configuration_tree()),
+                                     (robot.left_arm.get_configuration_tree(),
+                                     robot.left_gripper.get_configuration_tree())]
+        else:
+            self._initial_robot_state = (robot.arm.get_configuration_tree(),
+                                     robot.gripper.get_configuration_tree())
+
+        self._ignore_collisions_for_current_waypoint = False
+
+        # Set camera properties from observation config
+        self._set_camera_properties()
+
+        x, y, z = self._workspace.get_position()
+        minx, maxx, miny, maxy, _, _ = self._workspace.get_bounding_box()
+        self._workspace_minx = x - np.fabs(minx) - 0.2
+        self._workspace_maxx = x + maxx + 0.2
+        self._workspace_miny = y - np.fabs(miny) - 0.2
+        self._workspace_maxy = y + maxy + 0.2
+        self._workspace_minz = z
+        self._workspace_maxz = z + 1.0  # 1M above workspace
+
+        self.target_workspace_check = Dummy.create()
+        self._step_callback = None
+
+        if self.robot.is_bimanual:
+               self._robot_shapes = [self.robot.right_arm.get_objects_in_tree(object_type=ObjectType.SHAPE), 
+               self.robot.left_arm.get_objects_in_tree(object_type=ObjectType.SHAPE)]
+               self._right_execute_demo_joint_position_action = None
+               self._left_execute_demo_joint_position_action = None
+        else:
+            self._robot_shapes = self.robot.arm.get_objects_in_tree(
+                object_type=ObjectType.SHAPE)           
+            self._execute_demo_joint_position_action = None
+
+    def load(self, task: Task) -> None:
+        """Loads the task and positions at the centre of the workspace.
+
+        :param task: The task to load in the scene.
+        """
+        task.load()  # Load the task in to the scene
+
+        # Set at the centre of the workspace
+        task.get_base().set_position(self._workspace.get_position())
+
+        self._initial_task_state = task.get_state()
+        self.task = task
+        self._initial_task_pose = task.boundary_root().get_orientation()
+        self._has_init_task = self._has_init_episode = False
+        self._variation_index = 0
+
+    def unload(self) -> None:
+        """Clears the scene. i.e. removes all tasks. """
+        if self.task is not None:
+            self.robot.release_gripper()
+            if self._has_init_task:
+                self.task.cleanup_()
+            self.task.unload()
+        self.task = None
+        self._variation_index = 0
+
+    def init_task(self) -> None:
+        self.task.init_task()
+        self._initial_task_state = self.task.get_state()
+        self._has_init_task = True
+        self._variation_index = 0
+
+    def init_episode(self, index: int, randomly_place: bool=True,
+                     max_attempts: int = 5) -> List[str]:
+        """Calls the task init_episode and puts randomly in the workspace.
+        """
+
+        self._variation_index = index
+        if not self._has_init_task:
+            self.init_task()
+
+        # Try a few times to init and place in the workspace
+        attempts = 0
+        descriptions = None
+        while attempts < max_attempts:
+            descriptions = self.task.init_episode(index)
+            try:
+                if (randomly_place and
+                        not self.task.is_static_workspace()):
+                    self._place_task()
+                    if self.robot.is_in_collision():
+                        logging.error("robot is in collision")
+                        raise BoundaryError()
+                self.task.validate()
+                break
+            except (BoundaryError, WaypointError) as e:
+                logging.error('Error when checking waypoints. Exception is: %s', e)
+                self.task.cleanup_()
+                self.task.restore_state(self._initial_task_state)
+                attempts += 1
+                if attempts >= max_attempts:
+                    raise e
+
+        # Let objects come to rest
+        [self.pyrep.step() for _ in range(STEPS_BEFORE_EPISODE_START)]
+        self._has_init_episode = True
+        return descriptions
+
+    def reset(self) -> None:
+        """Resets the joint angles. """
+
+        self.robot.release_gripper()
+
+        if self.robot.is_bimanual:
+            self.reset_bimanual()
+        else:
+            self.reset_unimanual()
+
+        self.robot.zero_velocity()
+        
+        if self.task is not None and self._has_init_task:
+            self.task.cleanup_()
+            self.task.restore_state(self._initial_task_state)
+        self.task.set_initial_objects_in_scene()
+
+    def reset_unimanual(self) -> None:
+        arm, gripper = self._initial_robot_state   
+        self.pyrep.set_configuration_tree(arm)
+        self.pyrep.set_configuration_tree(gripper)
+        
+        self.robot.arm.set_joint_positions(self._start_arm_joint_pos, disable_dynamics=True)
+        self.robot.gripper.set_joint_positions(
+            self._starting_gripper_joint_pos, disable_dynamics=True)
+
+
+    def reset_bimanual(self) -> None:
+
+        for arm, gripper in self._initial_robot_state:        
+            self.pyrep.set_configuration_tree(arm)
+            self.pyrep.set_configuration_tree(gripper)
+        
+        self.robot.right_arm.set_joint_positions(self._start_arm_joint_pos[0], disable_dynamics=True)
+        self.robot.right_gripper.set_joint_positions(self._starting_gripper_joint_pos[0], disable_dynamics=True)
+
+        self.robot.left_arm.set_joint_positions(self._start_arm_joint_pos[1], disable_dynamics=True)
+        self.robot.left_gripper.set_joint_positions(self._starting_gripper_joint_pos[1], disable_dynamics=True)
+
+
+    def get_observation(self) -> Observation:
+
+        observation_data = {}
+        perception_data = {}
+
+        # ..todo:: extract methods
+        def get_rgb_depth(sensor: VisionSensor, get_rgb: bool, get_depth: bool,
+                          get_pcd: bool, rgb_noise: NoiseModel,
+                          depth_noise: NoiseModel, depth_in_meters: bool):
+            rgb = depth = pcd = None
+            if sensor is not None and (get_rgb or get_depth):
+                sensor.handle_explicitly()
+                if get_rgb:
+                    rgb = sensor.capture_rgb()
+                    if rgb_noise is not None:
+                        rgb = rgb_noise.apply(rgb)
+                    rgb = np.clip((rgb * 255.).astype(np.uint8), 0, 255)
+                if get_depth or get_pcd:
+                    depth = sensor.capture_depth(depth_in_meters)
+                    if depth_noise is not None:
+                        depth = depth_noise.apply(depth)
+                if get_pcd:
+                    depth_m = depth
+                    if not depth_in_meters:
+                        near = sensor.get_near_clipping_plane()
+                        far = sensor.get_far_clipping_plane()
+                        depth_m = near + depth * (far - near)
+                    pcd = sensor.pointcloud_from_depth(depth_m)
+                    if not get_depth:
+                        depth = None
+            return rgb, depth, pcd
+
+        def get_mask(sensor: VisionSensor, mask_fn):
+            mask = None
+            if sensor is not None:
+                sensor.handle_explicitly()
+                mask = mask_fn(sensor.capture_rgb())
+            return mask
+
+        for camera_name, camera_config in self._obs_config.camera_configs.items():            
+
+            rgb_data, depth_data, pcd_data = get_rgb_depth(self.camera_sensors[camera_name], camera_config.rgb, camera_config.depth, camera_config.point_cloud,
+            camera_config.rgb_noise, camera_config.depth_noise, camera_config.depth_in_meters)
+
+            if camera_config.mask and camera_config.masks_as_one_channel:
+                mask_data = get_mask(self.camera_sensors_mask[camera_name], rgb_handles_to_mask)
+            elif camera_config.mask:
+                mask_data = get_mask(self.camera_sensors_mask[camera_name], lambda x: x)
+            else:
+                mask_data = None
+                
+            perception_data.update({f'{camera_name}_rgb': rgb_data, f'{camera_name}_depth': depth_data, f'{camera_name}_point_cloud': pcd_data,
+                                     f'{camera_name}_mask': mask_data})
+    
+
+
+
+        def get_proprioception(arm: Arm, gripper: Gripper):
+            tip = arm.get_tip()
+
+            if self._obs_config.joint_velocities:
+                joint_velocities=np.array(arm.get_joint_velocities())
+                joint_velocities=self._obs_config.joint_velocities_noise.apply(joint_velocities)
+            else:
+                joint_velocities=None
+
+            if self._obs_config.joint_positions:
+                joint_positions = np.array(arm.get_joint_positions())
+                joint_positions = self._obs_config.joint_positions_noise.apply(joint_positions)
+            else:
+                joint_positions = None
+            
+            if self._obs_config.joint_forces:
+                fs = arm.get_joint_forces()
+                vels = arm.get_joint_target_velocities()
+                joint_forces = np.array([-f if v < 0 else f for f, v in zip(fs, vels)])
+                joint_forces = self._obs_config.joint_forces_noise.apply(joint_forces)
+            else:
+                joint_forces=None
+
+            if self._obs_config.gripper_open:
+                if gripper.get_open_amount()[0] > 0.95:
+                    gripper_open = 1.0
+                else:
+                    gripper_open = 0.0
+            else:
+                gripper_open = None
+
+            if self._obs_config.gripper_pose:
+                gripper_pose = tip.get_pose()
+            else:
+                gripper_pose = None
+
+
+            if self._obs_config.gripper_matrix:
+                gripper_matrix = tip.get_matrix()
+            else:
+                gripper_matrix = None
+
+            if self._obs_config.gripper_touch_forces:
+                ee_forces = gripper.get_touch_sensor_forces()
+                ee_forces_flat = []
+                for eef in ee_forces:
+                    ee_forces_flat.extend(eef)
+                gripper_touch_forces = np.array(ee_forces_flat)
+            else:
+                gripper_touch_forces =  None
+
+
+            if self._obs_config.gripper_joint_positions:
+                gripper_joint_positions= np.array(gripper.get_joint_positions())
+            else:
+                gripper_joint_positions = None
+
+
+            if self._obs_config.record_ignore_collisions:
+                if self._ignore_collisions_for_current_waypoint:
+                    ignore_collisions = np.array(1.0)
+                else:
+                    ignore_collisions = np.array(0.0)
+            else:
+                ignore_collisions = None
+
+            return {"joint_velocities": joint_velocities, 
+            "joint_positions": joint_positions,
+            "joint_forces": joint_forces, 
+            "gripper_open": gripper_open,
+            "gripper_pose": gripper_pose,
+            "gripper_matrix": gripper_matrix,
+            "gripper_touch_forces": gripper_touch_forces,
+            "gripper_joint_positions": gripper_joint_positions, 
+            "ignore_collisions": ignore_collisions}
+
+
+        if self.robot.is_bimanual:
+            observation_data["right"] = UnimanualObservationData(**get_proprioception(self.robot.right_arm, self.robot.right_gripper))
+            observation_data["left"] = UnimanualObservationData(**get_proprioception(self.robot.left_arm, self.robot.left_gripper))
+        else:
+            observation_data.update(get_proprioception(self.robot.arm, self.robot.gripper))
+
+        task_low_dim_state=(
+            self.task.get_low_dim_state() if
+            self._obs_config.task_low_dim_state else None),
+
+        observation_data.update({
+            "task_low_dim_state": task_low_dim_state,
+            "perception_data": perception_data,
+            "misc": self._get_misc()
+        })
+
+        if self.robot.is_bimanual:
+            obs = BimanualObservation(**observation_data)
+        else:
+            obs = UnimanualObservation(**observation_data)
+
+        obs = self.task.decorate_observation(obs)
+
+        return obs
+
+    def step(self):
+        self.pyrep.step()
+        self.task.step()
+        if self._step_callback is not None:
+            self._step_callback()
+
+    def register_step_callback(self, func):
+        self._step_callback = func
+
+    def execute_waypoints_unimanual(self, do_record) -> bool:
+        waypoints = self.task.get_waypoints()
+        if len(waypoints) == 0:
+            raise NoWaypointsError(
+                'No waypoints were found.', self.task)
+
+        while True:
+            success = False
+            self._ignore_collisions_for_current_waypoint = False
+            for i, point in enumerate(waypoints):
+                self._ignore_collisions_for_current_waypoint = point._ignore_collisions
+                point.start_of_path()
+                if point.skip:
+                    continue
+
+                colliding_shapes = []                
+
+                grasped_objects = self.robot.gripper.get_grasped_objects()
+                colliding_shapes = [s for s in self.pyrep.get_objects_in_tree(
+                object_type=ObjectType.SHAPE) if s not in grasped_objects
+                                and s not in self._robot_shapes and s.is_collidable()
+                                and self.robot.arm.check_arm_collision(s)]
+            
+
+                logging.info("got list of colliding objects: %s", colliding_shapes)
+                
+                [s.set_collidable(False) for s in colliding_shapes]
+                try:
+                    path = point.get_path()
+                    [s.set_collidable(True) for s in colliding_shapes]
+                except ConfigurationPathError as e:
+                    logging.error("unable to get path %s", e)
+                    [s.set_collidable(True) for s in colliding_shapes]
+                    raise DemoError(
+                        'Could not get a path for waypoint %d.' % i,
+                        self.task) from e
+                ext = point.get_ext()
+
+                logging.info("point.get_ext() %s", str(ext))
+
+                path.visualize()
+
+                done = False
+                success = False
+                while not done:
+                    done = path.step()
+                    self.step()
+                    self._execute_demo_joint_position_action = path.get_executed_joint_position_action()
+                    do_record()
+                    success, term = self.task.success()
+
+                point.end_of_path()
+                path.clear_visualization()
+                logging.info("done executing path")
+
+                if len(ext) > 0:
+                    self._handle_extensions_strings(ext, do_record)
+      
+
+            if not self.task.should_repeat_waypoints() or success:
+                return success
+
+
+    def execute_waypoints_bimanual(self, do_record) -> bool:
+        right_waypoints = self.task.right_waypoints
+        left_waypoints = self.task.left_waypoints
+
+        for i, right_point in enumerate(right_waypoints.copy()):
+            ext = right_point.get_ext()
+            if 'repeat' in ext:
+                j = ext.rsplit('_', maxsplit=1)
+                j = int(j[-1])
+                for _ in range(j):
+                    right_waypoints.insert(i, right_point)
+
+
+        for i, left_point in enumerate(left_waypoints.copy()):
+            ext = left_point.get_ext()
+            if 'repeat' in ext:
+                j = ext.rsplit('_', maxsplit=1)
+                j = int(j[-1])
+                for _ in range(j):
+                    left_waypoints.insert(i, left_point)
+
+        while len(left_waypoints) > len(right_waypoints):
+            right_waypoints.append(right_waypoints[-1])
+
+        while len(right_waypoints) > len(left_waypoints):
+            left_waypoints.append(left_waypoints[-1])
+
+        
+        while True:
+            success = False
+            self._ignore_collisions_for_current_waypoint = False
+            # ..fixme:: some waypoints might be skipped due to zip -> add dummy waypoints
+            for i, (right_point, left_point) in enumerate(zip(right_waypoints, left_waypoints)):
+                self._ignore_collisions_for_current_waypoint = right_point._ignore_collisions or left_point._ignore_collisions
+                right_point.start_of_path()
+                left_point.start_of_path()
+                if right_point.skip or left_point.skip:
+                    print("skipping waypoints!")
+                    logging.error("skipping waypoints!")
+                    continue
+        
+                grasped_objects = self.robot.right_gripper.get_grasped_objects() + self.robot.left_gripper.get_grasped_objects()
+                colliding_shapes = []
+                for s in self.pyrep.get_objects_in_tree(object_type=ObjectType.SHAPE):
+                    if s in grasped_objects:
+                        continue
+                    #if s in self._robot_shapes:
+                    #    continue
+                    if not s.is_collidable():
+                        continue
+                    if self.robot.right_arm.check_arm_collision(s):
+                        colliding_shapes.append(s)
+                    elif self.robot.left_arm.check_arm_collision(s):
+                        colliding_shapes.append(s)
+                
+                logging.debug("got list of colliding objects: %s", ", ".join([s.get_name()  for s in colliding_shapes]))
+                
+                [s.set_collidable(False) for s in colliding_shapes]
+                try:
+                    right_path = right_point.get_path()
+                    left_path = left_point.get_path()
+                except ConfigurationPathError as e:
+                    logging.error("Unable to get path %s", e)
+                    raise DemoError(f'Could not get a path for waypoint {right_point.name} or {left_point.name}.', task=self.task) from e
+                finally:
+                    [s.set_collidable(True) for s in colliding_shapes]
+
+                right_ext = right_point.get_ext()
+                left_ext = left_point.get_ext()
+
+                right_path.visualize()
+                left_path.visualize()
+
+                right_done = False
+                left_done = False
+                success = False
+                while not (right_done and left_done):
+                    if not right_done and right_path.step():                
+                        right_point.end_of_path()
+                        right_path.clear_visualization()
+                        for ext in right_ext.split(";"):
+                            self._handle_extensions_strings(ext.strip(), do_record)
+                        right_done = True
+
+                    if not left_done and left_path.step():
+                        left_point.end_of_path()
+                        left_path.clear_visualization()
+                        for ext in left_ext.split(";"):
+                            self._handle_extensions_strings(ext.strip(), do_record)
+                        left_done = True
+
+                    self.step()
+                    self._right_execute_demo_joint_position_action = right_path.get_executed_joint_position_action()
+                    self._left_execute_demo_joint_position_action = left_path.get_executed_joint_position_action()
+                    do_record()
+                    success, term = self.task.success()
+
+            if not self.task.should_repeat_waypoints() or success:
+                return success
+
+
+    def get_demo(self, record: bool = True,
+                 callable_each_step: Callable[[Observation], None] = None,
+                 randomly_place: bool = True) -> Demo:
+        """Returns a demo (list of observations)"""
+
+        if not self._has_init_task:
+            self.init_task()
+        if not self._has_init_episode:
+            self.init_episode(self._variation_index,
+                              randomly_place=randomly_place)
+        self._has_init_episode = False
+
+        demo = []
+
+        def do_record():
+            self._demo_record_step(demo, record, callable_each_step)
+
+        if record:
+            self.pyrep.step()  # Need this here or get_force doesn't work...
+            demo.append(self.get_observation())
+
+        success = False
+        if self.robot.is_bimanual:
+            success = self.execute_waypoints_bimanual(do_record)
+        else:
+            success = self.execute_waypoints_unimanual(do_record)
+            
+
+        # Some tasks may need additional physics steps
+        # (e.g. ball rowling to goal)
+        if not success:
+            for _ in range(10):
+                self.pyrep.step()
+                self.task.step()
+                do_record()
+                success, term = self.task.success()
+                if success:
+                    break
+
+        success, term = self.task.success()
+        if not success:
+            raise DemoError('Demo was completed, but was not successful.',
+                            self.task)
+        return Demo(demo)
+    
+    def _handle_extensions_strings(self, ext, do_record):
+        """
+        Extensions strings are defined in the field under the 'Common Tab' when editing a waypoint
+        """
+        if len(ext) == 0:
+            return
+
+        contains_param = False
+        start_of_bracket = -1
+        name = ext.split('_', maxsplit=1)[0]
+        if 'open_gripper(' in ext:
+            self.robot.release_gripper(name)
+            start_of_bracket = ext.index('open_gripper(') + 13
+            contains_param = ext[start_of_bracket] != ')'
+            if not contains_param:
+                done = False
+                while not done:
+                    done = self.robot.actutate_gripper(1.0, 0.04, name)
+                    self.pyrep.step()
+                    self.task.step()
+                    if self._obs_config.record_gripper_closing:
+                        do_record()
+        elif 'close_gripper(' in ext:
+            start_of_bracket = ext.index('close_gripper(') + 14
+            contains_param = ext[start_of_bracket] != ')'
+            if not contains_param:
+                done = False
+                while not done:
+                    done = self.robot.actutate_gripper(0.0, 0.04, name)
+                    self.pyrep.step()
+                    self.task.step()
+                    if self._obs_config.record_gripper_closing:
+                        do_record()
+
+        if contains_param:
+            rest = ext[start_of_bracket:]
+            num = float(rest[:rest.index(')')])
+            done = False
+            logging.warning("not tested yet")
+            while not done:
+                done = self.robot.actutate_gripper(num, 0.04, name)
+                self.pyrep.step()
+                self.task.step()
+                if self._obs_config.record_gripper_closing:
+                    do_record()
+
+        if 'close_gripper(' in ext:
+            for g_obj in self.task.get_graspable_objects():
+                self.robot.grasp(g_obj, name)
+        do_record()
+
+    def get_observation_config(self) -> ObservationConfig:
+        return self._obs_config
+
+    def check_target_in_workspace(self, target_pos: np.ndarray) -> bool:
+        x, y, z = target_pos
+        return (self._workspace_maxx > x > self._workspace_minx and
+                self._workspace_maxy > y > self._workspace_miny and
+                self._workspace_maxz > z > self._workspace_minz)
+
+    def _demo_record_step(self, demo_list, record, func):
+        if record:
+            demo_list.append(self.get_observation())
+        if func is not None:
+            func(self.get_observation())
+
+    def _set_camera_properties(self) -> None:
+        def _set_rgb_props(rgb_cam: VisionSensor,
+                           rgb: bool, depth: bool, conf: CameraConfig):
+            if not (rgb or depth or conf.point_cloud):
+                rgb_cam.remove()
+            else:
+                rgb_cam.set_explicit_handling(1)
+                rgb_cam.set_resolution(conf.image_size)
+                rgb_cam.set_render_mode(conf.render_mode)
+
+        def _set_mask_props(mask_cam: VisionSensor, mask: bool,
+                            conf: CameraConfig):
+                if not mask:
+                    mask_cam.remove()
+                else:
+                    mask_cam.set_explicit_handling(1)
+                    mask_cam.set_resolution(conf.image_size)
+
+
+        for camera_name, camera_config in self._obs_config.camera_configs.items():
+            _set_rgb_props(self.camera_sensors[camera_name], camera_config.rgb, camera_config.depth, camera_config)
+   
+            if camera_config.mask:
+                _set_mask_props(
+                self.camera_sensors_mask[camera_name],
+                camera_config.mask,
+                camera_config)
+       
+
+    def _place_task(self) -> None:
+        self._workspace_boundary.clear()
+        # Find a place in the robot workspace for task
+        self.task.boundary_root().set_orientation(
+            self._initial_task_pose)
+        min_rot, max_rot = self.task.base_rotation_bounds()
+        self._workspace_boundary.sample(
+            self.task.boundary_root(),
+            min_rotation=min_rot, max_rotation=max_rot)
+
+    def _get_misc(self):
+        misc = {}
+        for camera_name, camera in self.camera_sensors.items():
+            if camera.still_exists():
+                misc.update({
+                    f'{camera_name}_camera_extrinsics': camera.get_matrix(),
+                    f'{camera_name}_camera_intrinsics': camera.get_intrinsic_matrix(),
+                    f'{camera_name}_camera_near': camera.get_near_clipping_plane(),
+                    f'{camera_name}_camera_far': camera.get_far_clipping_plane(),
+                })
+        misc.update({"variation_index": self._variation_index})
+        if self.robot.is_bimanual and self._right_execute_demo_joint_position_action is not None:
+            
+            misc.update({"right_executed_demo_joint_position_action": self._right_execute_demo_joint_position_action,
+                         "left_executed_demo_joint_position_action": self._left_execute_demo_joint_position_action})
+            self._right_execute_demo_joint_position_action = None
+            self._left_execute_demo_joint_position_action = None
+        
+        elif not self.robot.is_bimanual and self._execute_demo_joint_position_action is not None:
+            misc.update({"executed_demo_joint_position_action": self._execute_demo_joint_position_action})
+            self._execute_demo_joint_position_action = None
+        return misc
diff --git a/external/rlbench/rlbench/backend/spawn_boundary.py b/external/rlbench/rlbench/backend/spawn_boundary.py
new file mode 100644
index 0000000000000000000000000000000000000000..846981b6e198369f45d021fe289f4033014eeca1
--- /dev/null
+++ b/external/rlbench/rlbench/backend/spawn_boundary.py
@@ -0,0 +1,180 @@
+from typing import List
+import numpy as np
+import math
+from rlbench.backend.exceptions import BoundaryError
+from pyrep.objects.object import Object
+
+
+class BoundingBox(object):
+    def __init__(self, min_x: float, max_x: float, min_y: float, max_y: float,
+                 min_z: float, max_z: float):
+        self.min_x = min_x
+        self.max_x = max_x
+        self.min_y = min_y
+        self.max_y = max_y
+        self.min_z = min_z
+        self.max_z = max_z
+        self.points = [[min_x, min_y, min_z], [max_x, min_y, min_z],
+                       [min_x, max_y, min_z], [max_x, max_y, min_z],
+                       [min_x, min_y, max_z], [max_x, min_y, max_z],
+                       [min_x, max_y, max_z], [max_x, max_y, max_z]]
+
+    def rotate(self, theta: np.ndarray) -> 'BoundingBox':
+        r_x = np.array([[1, 0, 0],
+                        [0, math.cos(theta[0]), -math.sin(theta[0])],
+                        [0, math.sin(theta[0]), math.cos(theta[0])]
+                        ])
+        r_y = np.array([[math.cos(theta[1]), 0, math.sin(theta[1])],
+                        [0, 1, 0],
+                        [-math.sin(theta[1]), 0, math.cos(theta[1])]
+                        ])
+        r_z = np.array([[math.cos(theta[2]), -math.sin(theta[2]), 0],
+                        [math.sin(theta[2]), math.cos(theta[2]), 0],
+                        [0, 0, 1]
+                        ])
+        r = np.dot(r_z, np.dot(r_y, r_x))
+        new_points = np.dot(self.points, r)
+        return BoundingBox(np.amin(new_points[:, 0]), np.amax(new_points[:, 0]),
+                           np.amin(new_points[:, 1]), np.amax(new_points[:, 1]),
+                           np.amin(new_points[:, 2]), np.amax(new_points[:, 2]))
+
+    def within_boundary(self, boundary: 'BoundingBox', is_plane: bool) -> bool:
+        z_cond = True
+        if not is_plane:
+            z_cond = self.min_z > boundary.min_z and self.max_z < boundary.max_z
+        return (self.min_x > boundary.min_x and self.max_x < boundary.max_x and
+                self.min_y > boundary.min_y and self.max_y < boundary.max_y and
+                z_cond)
+
+
+class BoundaryObject(object):
+
+    def __init__(self, boundary: Object):
+        self._boundary = boundary
+        self._is_plane = False
+        self._contained_objects = []
+
+        if boundary.is_model():
+            (minx, maxx, miny,
+             maxy, minz, maxz) = boundary.get_model_bounding_box()
+        else:
+            minx, maxx, miny, maxy, minz, maxz = boundary.get_bounding_box()
+        self._boundary_bbox = BoundingBox(minx, maxx, miny, maxy, minz, maxz)
+
+        height = np.abs(maxz - minz)
+        if height == 0:
+            height = 1.0
+            self._is_plane = True
+        self._area = np.abs(maxx - minx) * np.abs(maxy - miny) * height
+
+    def _get_position_within_boundary(self, obj: Object, obj_bbox: BoundingBox
+                                      ) -> List[float]:
+        x = np.random.uniform(
+            self._boundary_bbox.min_x + np.abs(obj_bbox.min_x),
+            self._boundary_bbox.max_x - np.abs(obj_bbox.max_x))
+        y = np.random.uniform(
+            self._boundary_bbox.min_y + np.abs(obj_bbox.min_y),
+            self._boundary_bbox.max_y - np.abs(obj_bbox.max_y))
+        if self._is_plane:
+            _, _, z = obj.get_position(self._boundary)
+        else:
+            z = np.random.uniform(
+                self._boundary_bbox.min_z + np.abs(obj_bbox.min_z),
+                self._boundary_bbox.max_z - np.abs(obj_bbox.max_z))
+        return [x, y, z]
+
+    def get_area(self) -> float:
+        return self._area
+
+    def add(self, obj: Object, ignore_collisions: bool = False,
+            min_rotation: tuple = (0.0, 0.0, -3.14),
+            max_rotation: tuple = (0.0, 0.0, 3.14),
+            min_distance: float = 0.01) -> int:
+        """Returns true if can add and adds it
+        rotation_limits: how mush we allow it to rotate from its original
+        position"""
+
+        # Rotate the bounding box randomly
+        if obj.is_model():
+            bb = obj.get_model_bounding_box()
+        else:
+            bb = obj.get_bounding_box()
+        obj_bbox = BoundingBox(*bb)
+        rotation = np.random.uniform(list(min_rotation), list(max_rotation))
+        obj_bbox = obj_bbox.rotate(rotation)
+
+        if not obj_bbox.within_boundary(self._boundary_bbox, self._is_plane):
+            return -1
+
+        new_pos = self._get_position_within_boundary(obj, obj_bbox)
+        obj.set_position(new_pos, self._boundary)
+        obj.rotate(list(rotation))
+        new_pos = np.array(new_pos)
+
+        if not ignore_collisions:
+            for contained_obj in self._contained_objects:
+                # Check for collision between each child
+                for cont_ob in contained_obj.get_objects_in_tree(
+                        exclude_base=False):
+                    for placing_ob in obj.get_objects_in_tree(
+                            exclude_base=False):
+                        if placing_ob.check_collision(cont_ob):
+                            return -2
+                dist = np.linalg.norm(
+                    new_pos - contained_obj.get_position(self._boundary))
+                if dist < min_distance:
+                    return -3
+            self._contained_objects.append(obj)
+        return 1
+
+    def clear(self) -> None:
+        self._contained_objects = []
+
+
+class SpawnBoundary(object):
+
+    MAX_SAMPLES = 100
+
+    def __init__(self, boundaries: List[Object]):
+        self._boundaries = []
+        areas = []
+        for b in boundaries:
+            bo = BoundaryObject(b)
+            areas.append(bo.get_area())
+            self._boundaries.append(bo)
+        self._probabilities = np.array(areas) / np.sum(areas)
+
+    def sample(self, obj: Object, ignore_collisions=False,
+               min_rotation=(0.0, 0.0, -3.14), max_rotation=(0.0, 0.0, 3.14),
+               min_distance=0.01) -> None:
+        """
+        returns a position within the specified boundary. Calculated using a
+            weighted percentage.
+        set ignore_collisions if you are happy with things being stacked on top of each other
+        set rotation_range to be (0, 0) if you don't want it to rotate
+        :return:
+        """
+        collision_fails = boundary_fails = self.MAX_SAMPLES
+        while collision_fails > 0 and boundary_fails > 0:
+            sampled_boundary = np.random.choice(self._boundaries,
+                                                p=self._probabilities)
+            result = sampled_boundary.add(
+                obj, ignore_collisions, min_rotation, max_rotation, min_distance)
+            if result == -1:
+                boundary_fails -= 1
+            elif result == -2:
+                collision_fails -= 1
+            elif result == -3:
+                boundary_fails -= 1
+            else:
+                break
+        if boundary_fails <= 0:
+            raise BoundaryError('Could not place within boundary.'
+                                'Perhaps the object is too big for it?')
+        elif collision_fails <= 0:
+            raise BoundaryError(
+                'Could not place the object within the boundary due to '
+                'collision with other objects in the boundary.')
+
+    def clear(self) -> None:
+        [b.clear() for b in self._boundaries]
diff --git a/external/rlbench/rlbench/backend/task.py b/external/rlbench/rlbench/backend/task.py
new file mode 100644
index 0000000000000000000000000000000000000000..249438dcf3691699f160045faa04119076572e16
--- /dev/null
+++ b/external/rlbench/rlbench/backend/task.py
@@ -0,0 +1,475 @@
+import os
+import re
+from os.path import dirname, abspath, join
+from typing import List, Tuple, Callable, Union
+
+import numpy as np
+from pyrep import PyRep
+from pyrep.const import ObjectType
+from pyrep.errors import ConfigurationPathError
+from pyrep.objects.cartesian_path import CartesianPath
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.force_sensor import ForceSensor
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.robots.arms.dual_panda import PandaRight
+from pyrep.robots.arms.dual_panda import PandaLeft
+
+from rlbench.backend.conditions import Condition
+from rlbench.backend.exceptions import WaypointError
+from rlbench.backend.observation import Observation
+from rlbench.backend.robot import BimanualRobot, Robot, UnimanualRobot
+from rlbench.backend.waypoints import Point, PredefinedPath, Waypoint
+
+import logging
+
+TASKS_PATH = join(dirname(abspath(__file__)), '../tasks')
+BIMANUAL_TASKS_PATH = join(dirname(abspath(__file__)), '../bimanual_tasks')
+
+
+class Task(object):
+
+    def __init__(self, pyrep: PyRep, robot: Robot, name: str = None):
+        """Constructor.
+
+        :param pyrep: Instance of PyRep.
+        :param robot: Instance of Robot.
+        """
+        self.pyrep = pyrep
+        self.name = name if name else re.sub(
+            '(?<!^)(?=[A-Z])', '_', self.__class__.__name__).lower()
+        self.robot = robot
+        self._waypoints = None
+        self._success_conditions = []
+        self._fail_conditions = []
+        self._graspable_objects = []
+        self._base_object = None
+        self._waypoint_additional_inits = {}
+        self._waypoint_abilities_start = {}
+        self._waypoint_abilities_end = {}
+        self._waypoints_should_repeat = lambda: False
+        self._initial_objs_in_scene = None
+        self._stop_at_waypoint_index = -1
+
+    ########################
+    # Overriding functions #
+    ########################
+
+    def init_task(self) -> None:
+        """Initialises the task. Called only once when task loaded.
+
+        Here we can grab references to objects in the task and store them
+        as member variables to be used in init_episode. Here we also usually
+        set success conditions for the task as well as register what objects
+        can be grasped.
+        """
+        raise NotImplementedError(
+            "'init_task' is almost always necessary.")
+
+    def init_episode(self, index: int) -> List[str]:
+        """Initialises the episode. Called each time the scene is reset.
+
+        Here we usually define how the task changes across variations. Based on
+        this we can change the task descriptions that are returned.
+
+        :param index: The variation index.
+        :return: A list of strings describing the task.
+        """
+        raise NotImplementedError(
+            "'init_episode' must be defined and return a list of strings.")
+
+    def variation_count(self) -> int:
+        """Number of variations for the task. Can be determined dynamically.
+
+        :return: Number of variations for this task.
+        """
+        raise NotImplementedError(
+            "'variation_count' must be defined and return an int.")
+
+    def get_low_dim_state(self) -> np.ndarray:
+        """Gets the pose and various other properties of objects in the task.
+
+        :return: 1D array of low-dimensional task state.
+        """
+
+        # Corner cases:
+        # (1) Object has been deleted.
+        # (2) Object has been grasped (and is now child of gripper).
+
+        state = []
+        for obj, objtype in self._initial_objs_in_scene:
+            if not obj.still_exists():
+                # It has been deleted
+                empty_len = 7
+                if objtype == ObjectType.JOINT:
+                    empty_len += 1
+                elif objtype == ObjectType.FORCE_SENSOR:
+                    empty_len += 6
+                state.extend(np.zeros((empty_len,)).tolist())
+            else:
+                state.extend(np.array(obj.get_pose()))
+                if obj.get_type() == ObjectType.JOINT:
+                    state.extend([Joint(obj.get_handle()).get_joint_position()])
+                elif obj.get_type() == ObjectType.FORCE_SENSOR:
+                    forces, torques = ForceSensor(obj.get_handle()).read()
+                    state.extend(forces + torques)
+
+        return np.array(state).flatten()
+
+    def step(self) -> None:
+        """Called each time the simulation is stepped. Can usually be left."""
+        pass
+
+    def reward(self) -> Union[float, None]:
+        """Allows the user to customise the task and add reward shaping."""
+        return None
+
+    def cleanup(self) -> None:
+        """Called at the end of the episode. Can usually be left.
+
+        Can be used for complex tasks that spawn many objects.
+        """
+        pass
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        """Defines how much the task base can rotate during episode placement.
+
+        Default is set such that it can rotate any amount on the z axis.
+
+        :return: A tuple containing the min and max (x, y, z) rotation bounds
+            (in radians).
+        """
+        return (0.0, 0.0, -3.14), (0.0, 0.0, 3.14)
+
+    def boundary_root(self) -> Object:
+        """An object that should act as the task root when randomly placing.
+
+        Sometimes the task can involve a large appliance (e.g. dish washer)
+        which cannot be placed within the task workspace. This allows us to
+        define a proxy root (e.g. a plane in front of the appliance) that
+        would allow the task to be placed inside the workspace.
+
+        :return: The PyRep Object that will act as the root.
+        """
+        return self.get_base()
+
+    def decorate_observation(self, observation: Observation) -> Observation:
+        """Can be used for tasks that want to modify the observations.
+
+        Usually not used. Perhpas cabn be used to model
+
+        :param observation: The Observation for this time step.
+        :return: The modified Observation.
+        """
+        return observation
+
+    def is_static_workspace(self) -> bool:
+        """Specify if the task should'nt be randomly placed in the workspace.
+
+        :return: True if the task pose should not be sampled.
+        """
+        return False
+
+    def set_initial_objects_in_scene(self):
+        objs = self.get_base().get_objects_in_tree(
+            exclude_base=True, first_generation_only=False)
+        types = [ob.get_type() for ob in objs]
+        self._initial_objs_in_scene = list(zip(objs, types))
+
+
+    #########################
+    # Registering functions #
+    #########################
+
+    def register_success_conditions(self, condition: List[Condition]):
+        """What conditions need to be met for the task to be a success.
+
+        Note: this replaces any previously registered conditions!
+
+        :param condition: A list of success conditions.
+        """
+        self._success_conditions = condition
+
+    def register_fail_conditions(self, condition: List[Condition]):
+        """What conditions need to be met for the task to be classed as a fail.
+
+        Usually this is not needed, however, in some cases, it may be desirable
+        for tasks to be classed as a fail when certain conditions are met, e.g.
+        dropping a fragile object, touching something, etc.
+        Note: this replaces any previously registered conditions!
+
+        :param condition: A list of fail conditions.
+        """
+        self._fail_conditions = condition
+
+    def register_graspable_objects(self, objects: List[Object]):
+        """Register what objects can be grasped with a 'stable' grasp.
+
+        In order for objects to be grasped in a stable way, PyRep attaches an
+        objects that need to be grasped as a child of the gripper. This function
+        allows one to register a list of objects that can be grasped in
+        this 'stable' manner.
+
+        Note: this replaces any previously registered objects!
+
+        :param objects: The list of Objects that can be grasped.
+        """
+        self._graspable_objects = objects
+
+    def register_waypoint_ability_start(self, waypoint_index: int,
+                                        func: Callable[[Waypoint], None]):
+        """Register a function to be called before moving to waypoint.
+
+        The registered function should take in a Waypoint object and is called
+        when the robot is about to move to the assigned waypoint.
+
+
+        :param waypoint_index: The waypoint index.
+        :param func: A function that takes a Waypoint object.
+        """
+        self._waypoint_abilities_start[waypoint_index] = func
+
+    def register_waypoint_ability_end(self, waypoint_index: int,
+                                        func: Callable[[Waypoint], None]):
+        """Register a function to be called after moving to waypoint.
+
+        The registered function should take in a Waypoint object and is called
+        when the robot has finished moving to the assigned waypoint.
+
+
+        :param waypoint_index: The waypoint index.
+        :param func: A function that takes a Waypoint object.
+        """
+        self._waypoint_abilities_end[waypoint_index] = func
+
+    def register_waypoints_should_repeat(self, func: Callable[[], bool]):
+        """Register a function that is called when reached the end of a demo.
+
+        The registered function should return a bool if the demo should repeat.
+        Can be used in conjunction with `register_waypoint_ability_start` and
+        `register_waypoint_ability_end`. Useful for a task such as emptying a
+        container, where we want to keep dynamically moving waypoints until
+        the container is empty.
+
+        :param func: A function that return a bool if the demo should repeat.
+        """
+        self._waypoints_should_repeat = func
+
+    def register_stop_at_waypoint(self, waypoint_index: int):
+        """Register at what index the demo should be stopped.
+
+        :param waypoint_index: The waypoint index.
+        """
+        self._stop_at_waypoint_index = waypoint_index
+
+    ##########################
+    # Other public functions #
+    ##########################
+
+    def get_name(self) -> str:
+        """The name of the task file (without the .py extension).
+
+        :return: The name of the task.
+        """
+        return self.name
+
+    def validate(self):
+        """If the task placement is valid. """
+        self._waypoints = self._get_waypoints()
+
+    def get_waypoints(self):
+        if self._waypoints is None:
+            self._waypoints = self._get_waypoints()
+        return self._waypoints
+
+    def should_repeat_waypoints(self):
+        return self._waypoints_should_repeat()
+
+    def get_graspable_objects(self):
+        return self._graspable_objects
+
+    def success(self) -> Tuple[bool, bool]:
+        """If the task is currently successful.
+
+        :return: Tuple containing 2 bools: first specifies if the task is currently successful,
+            second specifies if the task should terminate (either from success or from broken constraints).
+        """
+        all_fails_met = np.all(
+            [cond.condition_met()[0] for cond in self._fail_conditions])
+        if len(self._fail_conditions) > 0 and all_fails_met:
+            return False, True
+        all_met = np.all(
+            [cond.condition_met()[0] for cond in self._success_conditions])
+        should_terminate = all_met
+        return all_met, should_terminate
+
+    def load(self) -> Object:
+        if Object.exists(self.name):
+            return Dummy(self.name)
+        ttm_file = os.path.join(
+            os.path.dirname(os.path.abspath(__file__)),
+            '../task_ttms/%s.ttm' % self.name)
+        if not os.path.isfile(ttm_file):
+            raise FileNotFoundError(
+                'The following is not a valid task .ttm file: %s' % ttm_file)
+        self._base_object = self.pyrep.import_model(ttm_file)
+        return self._base_object
+
+    def unload(self) -> None:
+        self._waypoints = None
+        self.get_base().remove()
+        self.clear_registerings()
+
+    def cleanup_(self) -> None:
+        for cond in self._success_conditions + self._fail_conditions:
+            cond.reset()
+                
+        self._waypoints = None
+        self.cleanup()
+
+    def clear_registerings(self) -> None:
+        self._success_conditions = []
+        self._fail_conditions = []
+        self._graspable_objects = []
+        self._base_object = None
+        self._waypoint_additional_inits = {}
+        self._waypoint_abilities_start = {}
+        self._waypoint_abilities_end = {}
+
+    def get_base(self) -> Dummy:
+        self._base_object = Dummy(self.name)
+        return self._base_object
+
+    def get_state(self) -> Tuple[bytes, int]:
+        objs = self.get_base().get_objects_in_tree(exclude_base=False)
+        return self.get_base().get_configuration_tree(), len(objs)
+
+    def restore_state(self, state: Tuple[bytes, int]) -> None:
+        objs = self.get_base().get_objects_in_tree(exclude_base=False)
+        if len(objs) != state[1]:
+            if self.name not in ['empty_container']:               
+                logging.error('Expected to be resetting %d objects, but there were %d.', state[1], len(objs))
+                raise RuntimeError("Insufficient number of objects in the scene. Maybe an object is still grasped. Please check the task!")
+        self.pyrep.set_configuration_tree(state[0])
+
+    #####################
+    # Private functions #
+    #####################
+    def _feasible(self, waypoints: List[Point]) -> Tuple[bool, int]:
+        if isinstance(self.robot, UnimanualRobot):
+            arm = self.robot.arm
+            logging.warn("single robot")
+            return self._feasible_with_arm(arm, waypoints)
+        elif isinstance(self.robot, BimanualRobot):
+            way_points_right = [w for w in waypoints if isinstance(w._arm, PandaRight)]
+            way_points_left = [w for w in waypoints if isinstance(w._arm, PandaLeft)]
+
+            logging.info("total waypoints %s, (right=%s, left=%s)", len(waypoints), len(way_points_right), len(way_points_left))
+
+            f_right = self._feasible_with_arm(self.robot.right_arm, way_points_right)
+            f_left = self._feasible_with_arm(self.robot.left_arm, way_points_left)
+            if f_right[0] and f_left[0]:
+                return True, -1
+            else:
+                logging.warn("Waypoints are not reachable right=%s left=%s", f_right, f_left)
+                return False, (f_right, f_left)
+
+        else:
+            logging.error('Invalid robot')
+
+    def _feasible_with_arm(self, arm, waypoints: List[Point]) -> Tuple[bool, str]:
+        start_vals = arm.get_joint_positions()
+        for i, point in enumerate(waypoints):
+            path = None
+            try:
+                path = point.get_path(ignore_collisions=True)
+            except ConfigurationPathError as err:
+                pass
+            if path is None:
+                arm.set_joint_positions(start_vals)
+                
+                return False, str(point)
+            path.set_to_end()
+        # Needed twice otherwise can glitch out.
+        arm.set_joint_positions(start_vals)
+        return True, ""
+
+    def _get_waypoints(self, validating=False) -> List[Waypoint]:
+        waypoint_name = 'waypoint%d'
+        waypoints = []
+        additional_waypoint_inits = []
+        i = 0
+        while True:
+            name = waypoint_name % i
+            if i == self._stop_at_waypoint_index or not Object.exists(name):
+                # There are no more waypoints...
+                break
+            ob_type = Object.get_object_type(name)
+            way = None
+            if ob_type == ObjectType.DUMMY:                
+                waypoint = Dummy(name)
+                start_func = None
+                end_func = None
+                if i in self._waypoint_abilities_start:
+                    start_func = self._waypoint_abilities_start[i]
+                if i in self._waypoint_abilities_end:
+                    end_func = self._waypoint_abilities_end[i]
+                if isinstance(self.robot, UnimanualRobot):
+                    arm = self.robot.arm
+                    way = Point(waypoint, arm,
+                            start_of_path_func=start_func,
+                            end_of_path_func=end_func)
+                elif isinstance(self.robot, BimanualRobot):
+                    waypoint_mapping = self.waypoint_mapping[name]
+                    logging.debug("mapping waypoint %s to %s", name, waypoint_mapping)
+                    arms = self.robot.get_arms_by_name(waypoint_mapping)
+                    if not arms:
+                        logging.warning("unable to get arm for waypoint %s", name)
+                    for arm in arms:
+                        way = Point(waypoint, arm,
+                                    start_of_path_func=start_func,
+                                    end_of_path_func=end_func)
+            elif ob_type == ObjectType.PATH:
+                cartestian_path = CartesianPath(name)
+                way = PredefinedPath(cartestian_path, arm)
+            else:
+                raise WaypointError(
+                    '%s is an unsupported waypoint type %s' % (
+                        name, ob_type), self)
+
+            if name in self._waypoint_additional_inits and not validating:
+                additional_waypoint_inits.append(
+                    (self._waypoint_additional_inits[name], way))
+            waypoints.append(way)
+            i += 1
+
+        # Check if all of the waypoints are feasible
+        feasible, way_i = self._feasible(waypoints)
+        if not feasible:
+            raise WaypointError(
+                "Infeasible episode. Can't reach waypoint %s." % str(way_i), self)
+        for func, way in additional_waypoint_inits:
+            func(way)
+        return waypoints
+
+
+
+class BimanualTask(Task):
+
+    def __init__(self, pyrep: PyRep, robot: Robot, name: str = None):
+        if not isinstance(robot, BimanualRobot):
+            logging.error("tasks requires a bimanual robot")
+        super().__init__(pyrep, robot, name)
+
+    @property
+    def right_waypoints(self):
+        waypoints = self.get_waypoints()
+        wm = self.waypoint_mapping
+        return [w for w in waypoints if wm[w.name] == 'right']
+
+    @property
+    def left_waypoints(self):
+        waypoints = self.get_waypoints()
+        wm = self.waypoint_mapping
+        return [w for w in waypoints if wm[w.name] == 'left']
diff --git a/external/rlbench/rlbench/backend/task_utils.py b/external/rlbench/rlbench/backend/task_utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..f7bfc6329932e2d27cb9a9a591f7e857c725497d
--- /dev/null
+++ b/external/rlbench/rlbench/backend/task_utils.py
@@ -0,0 +1,28 @@
+import os
+import numpy as np
+from pyrep.objects.shape import Shape
+
+
+def sample_procedural_objects(task_base, num_samples, mass=0.1):
+    assets_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)),
+                              '../assets/procedural_objects')
+    samples = np.random.choice(
+        os.listdir(assets_dir), num_samples, replace=False)
+    created = []
+    for s in samples:
+        respondable = os.path.join(assets_dir, s, s + '_coll.obj')
+        visual = os.path.join(assets_dir, s, s + '.obj')
+        resp = Shape.import_mesh(respondable, scaling_factor=0.005)
+        vis = Shape.import_mesh(visual, scaling_factor=0.005)
+        resp.set_renderable(False)
+        vis.set_renderable(True)
+        vis.set_parent(resp)
+        vis.set_dynamic(False)
+        vis.set_respondable(False)
+        resp.set_dynamic(True)
+        resp.set_mass(mass)
+        resp.set_respondable(True)
+        resp.set_model(True)
+        resp.set_parent(task_base)
+        created.append(resp)
+    return created
diff --git a/external/rlbench/rlbench/backend/utils.py b/external/rlbench/rlbench/backend/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..1669c8818fc33b5b4f851ef6a1db3a387d7f640e
--- /dev/null
+++ b/external/rlbench/rlbench/backend/utils.py
@@ -0,0 +1,231 @@
+"""Creates an image from a numpy array of floating point depth data.
+
+Taken from https://github.com/ahundt/robotics_setup/blob/master/datasets/google_brain_robot_data/depth_image_encoding.py
+
+Examples:
+
+  depth_array is a 2D numpy array of floating point depth data in meters.
+
+  depth_rgb = FloatArrayToRgbImage(depth_array)
+  depth_rgb is a PIL Image object containing the same data as 24-bit
+  integers encoded in the RGB bytes.
+  depth_rgb.save('image_file.png') - to save to a file.
+
+  depth_array2 = ImageToFloatArray(depth_rgb)
+  depth_array2 is a 2D numpy array containing the same data as
+  depth_array up to the precision of the RGB image (1/256 mm).
+
+  depth_gray = FloatArrayToGrayImage(depth_array)
+  depth_gray is a PIL Image object containing the same data rounded to
+  8-bit integers.
+  depth_gray.save('image_file.jpg', quality=95) - to save to a file.
+
+  depth_array3 = ImageToFloatArray(depth_gray)
+  depth_array3 is a 2D numpy array containing the same data as
+  depth_array up to the precision of the grayscale image (1 cm).
+
+The image conversions first scale and round the values and then pack
+them into the desired type in a numpy array before converting the
+array to a PIL Image object.  The Image can be saved in any format.
+We are using PNG for RGB and high quality JPEG for grayscale images.
+
+You can use different numeric types (e.g. np.uint16, np.int32), but
+not all combinations of numeric type and image format are supported by
+PIL or standard image viewers.
+
+"""
+
+import numpy as np
+from PIL import Image
+
+
+def ClipFloatValues(float_array, min_value, max_value):
+  """Clips values to the range [min_value, max_value].
+
+  First checks if any values are out of range and prints a message.
+  Then clips all values to the given range.
+
+  Args:
+    float_array: 2D array of floating point values to be clipped.
+    min_value: Minimum value of clip range.
+    max_value: Maximum value of clip range.
+
+  Returns:
+    The clipped array.
+
+  """
+  if float_array.min() < min_value or float_array.max() > max_value:
+    float_array = np.clip(float_array, min_value, max_value)
+  return float_array
+
+
+DEFAULT_RGB_SCALE_FACTOR = 256000.0
+
+
+def float_array_to_rgb_image(float_array,
+                             scale_factor=DEFAULT_RGB_SCALE_FACTOR,
+                             drop_blue=False):
+  """Convert a floating point array of values to an RGB image.
+
+  Convert floating point values to a fixed point representation where
+  the RGB bytes represent a 24-bit integer.
+  R is the high order byte.
+  B is the low order byte.
+  The precision of the depth image is 1/256 mm.
+
+  Floating point values are scaled so that the integer values cover
+  the representable range of depths.
+
+  This image representation should only use lossless compression.
+
+  Args:
+    float_array: Input array of floating point depth values in meters.
+    scale_factor: Scale value applied to all float values.
+    drop_blue: Zero out the blue channel to improve compression, results in 1mm
+      precision depth values.
+
+  Returns:
+    24-bit RGB PIL Image object representing depth values.
+  """
+  # Scale the floating point array.
+  scaled_array = np.floor(float_array * scale_factor + 0.5)
+  # Convert the array to integer type and clip to representable range.
+  min_inttype = 0
+  max_inttype = 2**24 - 1
+  scaled_array = ClipFloatValues(scaled_array, min_inttype, max_inttype)
+  int_array = scaled_array.astype(np.uint32)
+  # Calculate:
+  #   r = (f / 256) / 256  high byte
+  #   g = (f / 256) % 256  middle byte
+  #   b = f % 256          low byte
+  rg = np.divide(int_array, 256)
+  r = np.divide(rg, 256)
+  g = np.mod(rg, 256)
+  image_shape = int_array.shape
+  rgb_array = np.zeros((image_shape[0], image_shape[1], 3), dtype=np.uint8)
+  rgb_array[..., 0] = r
+  rgb_array[..., 1] = g
+  if not drop_blue:
+    # Calculate the blue channel and add it to the array.
+    b = np.mod(int_array, 256)
+    rgb_array[..., 2] = b
+  image_mode = 'RGB'
+  image = Image.fromarray(rgb_array, mode=image_mode)
+  return image
+
+
+DEFAULT_GRAY_SCALE_FACTOR = {np.uint8: 100.0,
+                             np.uint16: 1000.0,
+                             np.int32: DEFAULT_RGB_SCALE_FACTOR}
+
+
+def float_array_to_grayscale_image(float_array, scale_factor=None, image_dtype=np.uint8):
+  """Convert a floating point array of values to an RGB image.
+
+  Convert floating point values to a fixed point representation with
+  the given bit depth.
+
+  The precision of the depth image with default scale_factor is:
+    uint8: 1cm, with a range of [0, 2.55m]
+    uint16: 1mm, with a range of [0, 65.5m]
+    int32: 1/256mm, with a range of [0, 8388m]
+
+  Right now, PIL turns uint16 images into a very strange format and
+  does not decode int32 images properly.  Only uint8 works correctly.
+
+  Args:
+    float_array: Input array of floating point depth values in meters.
+    scale_factor: Scale value applied to all float values.
+    image_dtype: Image datatype, which controls the bit depth of the grayscale
+      image.
+
+  Returns:
+    Grayscale PIL Image object representing depth values.
+
+  """
+  # Ensure that we have a valid numeric type for the image.
+  if image_dtype == np.uint16:
+    image_mode = 'I;16'
+  elif image_dtype == np.int32:
+    image_mode = 'I'
+  else:
+    image_dtype = np.uint8
+    image_mode = 'L'
+  if scale_factor is None:
+    scale_factor = DEFAULT_GRAY_SCALE_FACTOR[image_dtype]
+  # Scale the floating point array.
+  scaled_array = np.floor(float_array * scale_factor + 0.5)
+  # Convert the array to integer type and clip to representable range.
+  min_dtype = np.iinfo(image_dtype).min
+  max_dtype = np.iinfo(image_dtype).max
+  scaled_array = ClipFloatValues(scaled_array, min_dtype, max_dtype)
+
+  image_array = scaled_array.astype(image_dtype)
+  image = Image.fromarray(image_array, mode=image_mode)
+  return image
+
+
+def image_to_float_array(image, scale_factor=None):
+  """Recovers the depth values from an image.
+
+  Reverses the depth to image conversion performed by FloatArrayToRgbImage or
+  FloatArrayToGrayImage.
+
+  The image is treated as an array of fixed point depth values.  Each
+  value is converted to float and scaled by the inverse of the factor
+  that was used to generate the Image object from depth values.  If
+  scale_factor is specified, it should be the same value that was
+  specified in the original conversion.
+
+  The result of this function should be equal to the original input
+  within the precision of the conversion.
+
+  Args:
+    image: Depth image output of FloatArrayTo[Format]Image.
+    scale_factor: Fixed point scale factor.
+
+  Returns:
+    A 2D floating point numpy array representing a depth image.
+
+  """
+  image_array = np.array(image)
+  image_dtype = image_array.dtype
+  image_shape = image_array.shape
+
+  channels = image_shape[2] if len(image_shape) > 2 else 1
+  assert 2 <= len(image_shape) <= 3
+  if channels == 3:
+    # RGB image needs to be converted to 24 bit integer.
+    float_array = np.sum(image_array * [65536, 256, 1], axis=2)
+    if scale_factor is None:
+      scale_factor = DEFAULT_RGB_SCALE_FACTOR
+  else:
+    if scale_factor is None:
+      scale_factor = DEFAULT_GRAY_SCALE_FACTOR[image_dtype.type]
+    float_array = image_array.astype(np.float32)
+  scaled_array = float_array / scale_factor
+  return scaled_array
+
+
+def task_file_to_task_class(task_file, bimanual=False):
+  #..fixme:: duplicate rlbench.utils.name_to_task_class
+  import importlib
+  name = task_file.replace('.py', '')
+  class_name = ''.join([w[0].upper() + w[1:] for w in name.split('_')])
+  if bimanual:
+    mod = importlib.import_module("rlbench.bimanual_tasks.%s" % name)
+  else:
+    mod = importlib.import_module("rlbench.tasks.%s" % name)
+  mod = importlib.reload(mod)
+  task_class = getattr(mod, class_name)
+  return task_class
+
+
+def rgb_handles_to_mask(rgb_coded_handles):
+  # rgb_coded_handles should be (w, h, c)
+  # Handle encoded as : handle = R + G * 256 + B * 256 * 256
+  rgb_coded_handles *= 255  # takes rgb range to 0 -> 255
+  rgb_coded_handles.astype(int)
+  return (rgb_coded_handles[:, :, 0] +
+          rgb_coded_handles[:, :, 1] * 256 +
+          rgb_coded_handles[:, :, 2] * 256 * 256)
diff --git a/external/rlbench/rlbench/backend/waypoints.py b/external/rlbench/rlbench/backend/waypoints.py
new file mode 100644
index 0000000000000000000000000000000000000000..384dc76c41a269873104626557520ccf9ccdf36f
--- /dev/null
+++ b/external/rlbench/rlbench/backend/waypoints.py
@@ -0,0 +1,83 @@
+from pyrep.const import ConfigurationPathAlgorithms as Algos
+from pyrep.objects.object import Object
+from pyrep.robots.configuration_paths.arm_configuration_path import (
+    ArmConfigurationPath)
+
+from pyrep.robots.arms.arm import Arm
+
+import logging
+
+
+
+class Waypoint(object):
+
+    def __init__(self, waypoint: Object, arm: Arm, ignore_collisions=False,
+                 start_of_path_func=None, end_of_path_func=None):
+        self._waypoint = waypoint
+        self._arm = arm
+        self._ext = waypoint.get_extension_string()
+        self._ignore_collisions = ignore_collisions
+        self._linear_only = False
+        self._start_of_path_func = start_of_path_func
+        self._end_of_path_func = end_of_path_func
+        self.skip = False
+        if len(self._ext) > 0:
+            self._ignore_collisions = 'ignore_collision' in self._ext
+            self._linear_only = 'linear' in self._ext
+
+    def get_path(self, ignore_collisions=False) -> ArmConfigurationPath:
+        raise NotImplementedError()
+
+    def get_ext(self) -> str:
+        return self._ext
+
+    def get_waypoint_object(self) -> Object:
+        return self._waypoint
+
+    def remove(self) -> None:
+        self._waypoint.remove()
+
+    def start_of_path(self) -> None:
+        if self._start_of_path_func is not None:
+            self._start_of_path_func(self)
+
+    def end_of_path(self) -> None:
+        if self._end_of_path_func is not None:
+            self._end_of_path_func(self)
+
+    @property
+    def name(self) -> str:
+        return self._waypoint.get_object_name(self._waypoint._handle)
+
+    def __str__(self):
+        waypoint_name = self._waypoint.get_object_name(self._waypoint._handle)
+        arm_name = self._arm.get_object_name(self._arm._handle)
+        return f"{waypoint_name} - {arm_name}"
+
+
+
+class Point(Waypoint):
+
+    def get_path(self, ignore_collisions=False) -> ArmConfigurationPath:
+        if self._linear_only:
+            path = self._arm.get_linear_path(self._waypoint.get_position(),
+                                euler=self._waypoint.get_orientation(),
+                                ignore_collisions=(self._ignore_collisions or
+                                                   ignore_collisions))
+        else:
+            path = self._arm.get_path(self._waypoint.get_position(),
+                                euler=self._waypoint.get_orientation(),
+                                ignore_collisions=(self._ignore_collisions or
+                                                   ignore_collisions),
+                                trials=100,
+                                max_configs=10,
+                                trials_per_goal=10,
+                                algorithm=Algos.RRTConnect)
+        return path
+
+
+class PredefinedPath(Waypoint):
+
+    def get_path(self, ignore_collisions=False) -> ArmConfigurationPath:
+        path = self._arm.get_path_from_cartesian_path(self._waypoint)
+        return path
diff --git a/external/rlbench/rlbench/bimanual_tasks/__init__.py b/external/rlbench/rlbench/bimanual_tasks/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_dual_push_buttons.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_dual_push_buttons.py
new file mode 100644
index 0000000000000000000000000000000000000000..27bbe4817f80c07493feee3ee341179361f7aec9
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_dual_push_buttons.py
@@ -0,0 +1,151 @@
+from typing import List
+import itertools
+import math
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import JointCondition, ConditionSet
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+MAX_VARIATIONS = 50
+
+# button top plate and wrapper will be be red before task completion
+# and be changed to cyan upon success of task, so colors list used to randomly vary colors of
+# base block will be redefined, excluding red and green
+colors = [
+    ('maroon', (0.5, 0.0, 0.0)),
+    ('green', (0.0, 0.5, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('navy', (0.0, 0.0, 0.5)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    ('cyan', (0.0, 1.0, 1.0)),
+    ('magenta', (1.0, 0.0, 1.0)),
+    ('silver', (0.75, 0.75, 0.75)),
+    ('gray', (0.5, 0.5, 0.5)),
+    ('orange', (1.0, 0.5, 0.0)),
+    ('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    ('teal', (0, 0.5, 0.5)),
+    ('azure', (0.0, 0.5, 1.0)),
+    ('violet', (0.5, 0.0, 1.0)),
+    ('rose', (1.0, 0.0, 0.5)),
+    ('black', (0.0, 0.0, 0.0)),
+    ('white', (1.0, 1.0, 1.0)),
+]
+
+#color_permutations = list(itertools.permutations(colors, 3))
+
+
+def print_permutations(color_permutations):
+    # pretty printing color_permutations for debug
+    print('num permutations: ', str(len(color_permutations)))
+    print('color_permutations:\n')
+    for i in range(len(color_permutations)):
+        print(str(color_permutations[i]))
+        if ((i + 1) % 16 == 0): print('')
+
+
+class BimanualDualPushButtons(BimanualTask):
+
+
+
+    def init_task(self) -> None:
+        self.buttons_pushed = 0
+        self.color_variation_index = 0
+        self.target_buttons = [Shape('push_buttons_target%d' % i)
+                               for i in range(3)]
+        self.target_topPlates = [Shape('target_button_topPlate%d' % i)
+                                 for i in range(3)]
+        self.target_joints = [Joint('target_button_joint%d' % i)
+                              for i in range(3)]
+        self.target_wraps = [Shape('target_button_wrap%d' % i)
+                             for i in range(3)]
+        self.boundaries = Shape('push_buttons_boundary')
+        # goal_conditions merely state joint conditions for push action for
+        # each button regardless of whether the task involves pushing it
+        self.goal_conditions = [JointCondition(self.target_joints[n], 0.001)
+                                for n in range(2)]
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint0': 'right', 'waypoint2': 'right'})
+
+    def init_episode(self, index: int) -> List[str]:
+
+        self._variation_index = index
+
+        for tp in self.target_topPlates:
+            tp.set_color([1.0, 0.0, 0.0])
+        for w in self.target_wraps:
+            w.set_color([1.0, 0.0, 0.0])
+            
+        #button_colors = color_permutations[index]
+
+        rng = np.random.default_rng(index)
+        button_colors = rng.choice(np.asarray(colors, dtype=object), 3, replace=False)
+        
+        self.color_names = []
+        self.color_rgbs = []
+        self.chosen_colors = []
+
+        for i, b in enumerate(self.target_buttons):
+            color_name, color_rgb = button_colors[i]
+            self.color_names.append(color_name)
+            self.color_rgbs.append(color_rgb)
+            self.chosen_colors.append((color_name, color_rgb))
+            b.set_color(color_rgb)
+
+        self.register_success_conditions([ConditionSet(self.goal_conditions, True, True)])
+
+        # ..todo separate the spawn boundaries for the left and right  robot
+
+
+        right_boundary = Shape('push_buttons_boundary_right')
+        b = SpawnBoundary([right_boundary])
+        b.sample(self.target_buttons[0], min_distance=0.1)
+
+        left_boundary = Shape('push_buttons_boundary_left')
+        b = SpawnBoundary([left_boundary])
+        b.sample(self.target_buttons[1], min_distance=0.1)
+
+        b = SpawnBoundary([self.boundaries])
+        b.sample(self.target_buttons[2], min_distance=0.1)
+
+
+        w0 = Dummy('waypoint0')
+        x, y, z = self.target_buttons[0].get_position()
+        w0.set_position([x, y, z + 0.083])
+        w0.set_orientation([math.pi, 0, math.pi])
+
+        w0 = Dummy('waypoint1')
+        x, y, z = self.target_buttons[1].get_position()
+        w0.set_position([x, y, z + 0.083])
+        w0.set_orientation([math.pi, 0, math.pi])
+
+        rtn0 = f'push the {self.color_names[0]} and the {self.color_names[1]} buttons'
+        rtn1 = f'press the {self.color_names[0]} and the {self.color_names[1]} buttons'
+        rtn2 = f'push down the buttons with the {self.color_names[0]} and the the {self.color_names[1]} base'
+
+
+        return [rtn0, rtn1, rtn2]
+
+    def variation_count(self) -> int:
+        return MAX_VARIATIONS
+
+    def cleanup(self) -> None:
+        self.buttons_pushed = 0
+
+    def base_rotation_bounds(self):
+        return [0.0] * 3, [0.0] * 3
+
+    def is_static_workspace(self):
+        return True
+
+    def _move_above_next_target(self, waypoint):
+        if self.buttons_pushed >= self.buttons_to_push:
+            print('buttons_pushed:', self.buttons_pushed, 'buttons_to_push:',
+                  self.buttons_to_push)
+            raise RuntimeError('Should not be here.')
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_handover_item.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_handover_item.py
new file mode 100644
index 0000000000000000000000000000000000000000..a421b5d9057b51a309e4695054dc42060c5704d5
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_handover_item.py
@@ -0,0 +1,101 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.exceptions import BoundaryError
+from absl import logging
+from pyrep.objects.object import Object
+from rlbench.backend.conditions import Condition
+
+
+colors = [
+    ('red', (1.0, 0.0, 0.0)),
+    ('green', (0.0, 1.0, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    #('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    #('teal', (0, 0.5, 0.5)),
+    #('black', (0.0, 0.0, 0.0)),
+    #('white', (1.0, 1.0, 1.0)),
+]
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+class BimanualHandoverItem(BimanualTask):
+
+    def init_task(self) -> None:
+
+        self.items = [Shape(f'item{i}') for i in range(5)]
+
+        self.register_graspable_objects(self.items)
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint0': 'right', 'waypoint5': 'right'})
+
+        self.boundaries = Shape('handover_item_boundary')
+        self.boundary_init_pose = Shape('handover_item_boundary').get_position()
+
+
+    def init_episode(self, index:  int) -> List[str]:
+
+        self._variation_index = index
+
+        color_name, color = colors[index]
+        self.items[0].set_color(color)
+
+        remaining_colors = colors.copy()
+        remaining_colors.remove((color_name, color))
+        np.random.shuffle(remaining_colors)
+
+        for i, item in enumerate(self.items[1:]):
+            item.set_color(remaining_colors[i][1])
+
+        Shape('handover_item_boundary').set_position(self.boundary_init_pose)
+
+        b = SpawnBoundary([self.boundaries])
+        b.MAX_SAMPLES = 1000
+        b.clear()
+        for item in self.items:
+            try:
+                b.sample(item, min_distance=0.05)
+            except BoundaryError as err:
+                logging.warning("error %s. Sampling again while ignoring collisions ", err)
+                b.sample(item, ignore_collisions=True, min_distance=0.05)
+
+        right_success_sensor = ProximitySensor('Panda_rightArm_gripper_attachProxSensor')
+        left_success_sensor = ProximitySensor('Panda_leftArm_gripper_attachProxSensor')
+
+        self.register_success_conditions(
+            [DetectedCondition(self.items[0], right_success_sensor),  
+             DetectedCondition(self.items[0], left_success_sensor, negated=True),
+             LiftedCondition(self.items[0], 0.8)])
+
+        return [f'bring me the {color_name} item',
+                f'hand over the {color_name} object']
+
+    def variation_count(self) -> int:
+        return len(colors)
+    
+    #def boundary_root(self) -> Object:
+    #    return Shape('handover_item_boundary')
+
+    def is_static_workspace(self):
+        return True
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_handover_item_easy.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_handover_item_easy.py
new file mode 100644
index 0000000000000000000000000000000000000000..6736e1b5da8868929b6bdcfa8c6a404af4f2fb3f
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_handover_item_easy.py
@@ -0,0 +1,66 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.conditions import NothingGrasped
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.object import Object
+from rlbench.backend.conditions import Condition
+
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+class BimanualHandoverItemEasy(BimanualTask):
+
+    def init_task(self) -> None:
+
+        self.item = Shape('item')
+
+        self.register_graspable_objects([self.item])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint0': 'right', 'waypoint5': 'right'})
+
+        self.boundaries = Shape('handover_item_boundary')
+
+
+    def init_episode(self, index: int) -> List[str]:
+
+        self._variation_index = index
+
+        right_success_sensor = ProximitySensor('Panda_rightArm_gripper_attachProxSensor')
+        left_success_sensor = ProximitySensor('Panda_leftArm_gripper_attachProxSensor')
+
+        #b = SpawnBoundary([self.boundaries])
+        #b.clear()
+        #    b.sample(item, min_distance=0.1)
+
+        self.register_success_conditions(
+            [DetectedCondition(self.item, right_success_sensor),  
+             DetectedCondition(self.item, left_success_sensor, negated=True),
+             LiftedCondition(self.item, 0.8)])
+
+        return [f'bring me the item',
+                f'hand over the object']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('handover_item_boundary')
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_lift_ball.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_lift_ball.py
new file mode 100644
index 0000000000000000000000000000000000000000..76f9a43f45f2e752c6f2a73fbd69e2130ea5ae4d
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_lift_ball.py
@@ -0,0 +1,50 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.conditions import Condition
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+
+class BimanualLiftBall(BimanualTask):
+
+    def init_task(self) -> None:
+        self.ball = Shape('ball')
+        #self.register_graspable_objects([self.tray])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        for i in range(0, 7, 2):
+            self.waypoint_mapping.update({f'waypoint{i}': 'right'})
+
+    def init_episode(self, index) -> List[str]:
+        self._variation_index = index
+
+        self.register_success_conditions([LiftedCondition(self.ball, 0.95)])
+
+        return ['Lift the ball']
+
+    def variation_count(self) -> int:
+        return 1 #len(self._options)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_lift_tray.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_lift_tray.py
new file mode 100644
index 0000000000000000000000000000000000000000..07820c64075a9af282ef87888fe67fecb41b92aa
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_lift_tray.py
@@ -0,0 +1,72 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.conditions import Condition
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+
+class BimanualLiftTray(BimanualTask):
+
+    def init_task(self) -> None:
+        self.item = Shape('item')
+        self.tray = Shape('tray')
+
+        self.register_graspable_objects([self.item])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        for i in range(0, 7, 2):
+            self.waypoint_mapping.update({f'waypoint{i}': 'right'})
+
+    def init_episode(self, index) -> List[str]:
+
+
+        self._variation_index = index
+
+        right_sensor = ProximitySensor('Panda_rightArm_gripper_attachProxSensor')
+        left_sensor = ProximitySensor('Panda_leftArm_gripper_attachProxSensor')
+
+        #tray_visual = Shape('tray_visual')
+        #print(self.item.get_position())
+        #tray_visual.sample(self.item, min_distance=0.1, ignore_collisions=True)
+        self.item.set_position([0.0, 0.0, 0.001], relative_to=self.tray, reset_dynamics=False)
+        #print(self.item.get_position())
+
+        self.register_success_conditions([
+            LiftedCondition(self.tray, 1.2),
+            LiftedCondition(self.item, 1.2),
+            DetectedCondition(self.tray, right_sensor),
+            DetectedCondition(self.tray, left_sensor)])
+
+ 
+
+        return ['Lift the tray']
+
+    def variation_count(self) -> int:
+        return 1 #len(self._options)
+
+    def boundary_root(self) -> Object:
+        return Dummy('bimanual_lift_tray')
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_pick_laptop.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_pick_laptop.py
new file mode 100644
index 0000000000000000000000000000000000000000..a1d5067e8016eb17ce187fc91db843bf037657a6
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_pick_laptop.py
@@ -0,0 +1,35 @@
+from typing import List
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import Condition
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+
+
+class BimanualPickLaptop(BimanualTask):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([LiftedCondition(Shape('lid'), 1.0)])
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        for i in range(1, 7, 2):
+            self.waypoint_mapping.update({f'waypoint{i}': 'right'})
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['pick up the laptop']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_pick_plate.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_pick_plate.py
new file mode 100644
index 0000000000000000000000000000000000000000..375dae2d3ffc4e208fae04b55a0a718abb910dbe
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_pick_plate.py
@@ -0,0 +1,40 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from collections import defaultdict
+
+
+from rlbench.backend.conditions import Condition
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+
+
+class BimanualPickPlate(BimanualTask):
+
+    def init_task(self) -> None:
+        self.plate = Shape('plate')
+      
+        self.register_success_conditions([ LiftedCondition(self.plate, 1.0)])
+        self.register_graspable_objects([self.plate])
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        self.waypoint_mapping.update({'waypoint0': 'left', 'waypoint2': 'left', 'waypoint6': 'left'})
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['pick up the plate']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_push_box.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_push_box.py
new file mode 100644
index 0000000000000000000000000000000000000000..fd311ae5af5a5995abfb90f657e955c25b924f12
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_push_box.py
@@ -0,0 +1,40 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+
+class BimanualPushBox(BimanualTask):
+
+    def init_task(self) -> None:
+
+        self.item = Shape('cube')
+        self.target = Shape('target')
+        self.register_graspable_objects([self.item])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint0': 'right', 'waypoint2': 'right'})
+
+
+    def init_episode(self, index) -> List[str]:
+        self._variation_index = index
+
+        #Dummy('waypoint0').set_position(position=(0,0,0),relative_to=self.target)
+        #Dummy('waypoint0').set_position(position=(0,0,0),relative_to=self.target)
+
+        success_sensor = ProximitySensor('success0')
+        self.register_success_conditions([DetectedCondition(self.item, success_sensor)])
+        return ['push the box to the red area']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        angle = np.deg2rad(10)
+        return [0, 0, - angle], [0, 0, angle]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_put_bottle_in_fridge.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_put_bottle_in_fridge.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b076188650f7119ca54f9c27fd6d074579352c1
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_put_bottle_in_fridge.py
@@ -0,0 +1,56 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.conditions import NothingGrasped
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+class BimanualPutBottleInFridge(BimanualTask):
+
+    def init_task(self) -> None:
+        bottle = Shape('bottle')
+        self.register_graspable_objects([bottle])
+        self.register_success_conditions(
+            [DetectedCondition(bottle, ProximitySensor('success')),
+             NothingGrasped(self.robot.right_gripper), NothingGrasped(self.robot.left_gripper)])
+        
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        for i in range(4):
+            self.waypoint_mapping[f'waypoint{i}'] = 'right'
+
+        self.spawn_boundaries = [Shape('fridge_root')]
+
+    def init_episode(self, index: int) -> List[str]:
+
+        self._variation_index = index
+
+        s = Shape('fridge_root')
+        s.set_position([ 0.05, -0.275,  0.752])
+        print(s.get_position())
+
+        b = SpawnBoundary(self.spawn_boundaries)
+        b.sample(Shape('bottle'), min_distance=0.1)
+
+
+        return ['put bottle in fridge',
+                'place the bottle inside the fridge',
+                'open the fridge and put the bottle in there',
+                'open the fridge door, pick up the bottle, and leave it in the '
+                'fridge']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('fridge_root')
+
+    def is_static_workspace(self):
+        return True
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 4), (0.0, 0.0, np.pi / 4)
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_put_item_in_drawer.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_put_item_in_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..bd24b7133b67555fba2f3672a1d6286e8d9555d7
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_put_item_in_drawer.py
@@ -0,0 +1,46 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+
+class BimanualPutItemInDrawer(BimanualTask):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+        self._item = Shape('item')
+        self.register_graspable_objects([self._item])
+
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        self.waypoint_mapping.update({'waypoint0': 'left', 'waypoint1': 'left', 'waypoint2': 'left'})
+
+
+    def init_episode(self, index) -> List[str]:
+        self._variation_index = index
+        option = self._options[index]
+        anchor = self._anchors[index]
+        self._waypoint1.set_position(anchor.get_position())
+        success_sensor = ProximitySensor('success_' + option)
+        self.register_success_conditions(
+            [DetectedCondition(self._item, success_sensor)])
+        return ['put the item in the %s drawer' % option,
+                'put the block away in the %s drawer' % option,
+                'open the %s drawer and place the block inside of it' % option,
+                'leave the block in the %s drawer' % option]
+
+    def variation_count(self) -> int:
+        return 3 # len(self._options)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_set_the_table.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_set_the_table.py
new file mode 100644
index 0000000000000000000000000000000000000000..00f4096dde26785dbea37609957f34cc7a94b635
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_set_the_table.py
@@ -0,0 +1,50 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+class BimanualSetTheTable(Task):
+
+    def init_task(self) -> None:
+        plate = Shape('plate')
+        fork = Shape('fork')
+        knife = Shape('knife')
+        spoon = Shape('spoon')
+        glass = Shape('glass')
+        self.register_success_conditions([
+            DetectedCondition(plate, ProximitySensor('plate_detector')),
+            DetectedCondition(fork, ProximitySensor('fork_detector')),
+            DetectedCondition(knife, ProximitySensor('knife_detector')),
+            DetectedCondition(spoon, ProximitySensor('spoon_detector')),
+            DetectedCondition(glass, ProximitySensor('glass_detector')),
+            NothingGrasped(self.robot.right_gripper), NothingGrasped(self.robot.left_gripper)])
+        self.register_graspable_objects([plate, fork, knife, spoon, glass])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        
+        for i in range(5):
+            self.waypoint_mapping[f'waypoint{i}'] = 'right'
+        for i in range(23, 28):
+            self.waypoint_mapping[f'waypoint{i}'] = 'right'
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['set the table'
+                'place the dishes and cutlery on the table in preparation for '
+                'a meal',
+                'pick up the plate and put it down on the table, then place '
+                'the fork to its left, the knife and then the spoon to its '
+                'right, and set the glass down just above them',
+                'prepare the table for a meal',
+                'arrange the plate, cutlery and glass neatly on the table '
+                'so that a person can eat',
+                'get the table ready for lunch',
+                'get the table ready for dinner']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_straighten_rope.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_straighten_rope.py
new file mode 100644
index 0000000000000000000000000000000000000000..eac1e1f2fedb5f23b20b15c9bdf4165ff6918240
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_straighten_rope.py
@@ -0,0 +1,30 @@
+from typing import List
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+class BimanualStraightenRope(BimanualTask):
+
+    def init_task(self) -> None:
+        self.register_success_conditions(
+            [DetectedCondition(Shape('head'), ProximitySensor('success_head')),
+             DetectedCondition(Shape('tail'), ProximitySensor('success_tail'))])
+
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        for i in range(3):
+            self.waypoint_mapping[f'waypoint{i}'] = 'left'
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['straighten rope',
+                'pull the rope straight',
+                'grasping each end of the rope in turn, leave the rope straight'
+                ' on the table',
+                'pull each end of the rope until is is straight',
+                'tighten the rope',
+                'pull the rope tight']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_sweep_to_dustpan.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_sweep_to_dustpan.py
new file mode 100644
index 0000000000000000000000000000000000000000..1c00e7c8acb4c77c5be32d813efcdda70f12619c
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_sweep_to_dustpan.py
@@ -0,0 +1,45 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+
+DIRT_NUM = 5
+
+
+class BimanualSweepToDustpan(BimanualTask):
+
+    def init_task(self) -> None:
+        success_sensor = ProximitySensor('success')
+        self.dirts = [Shape('dirt' + str(i)) for i in range(DIRT_NUM)]
+        conditions = [DetectedCondition(dirt, success_sensor) for dirt in self.dirts]
+        self.register_graspable_objects([Shape('broom'), Shape('Dustpan_4'),  Shape('Dustpan_5'), Shape('Dustpan_3')])
+        self.register_success_conditions(conditions)
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint5': 'right', 'waypoint6': 'right', 'waypoint7': 'right'})
+
+    def init_episode(self, index: int) -> List[str]:
+
+        b = SpawnBoundary([Shape('dirt_boundary')])
+        b.clear()
+        for item in self.dirts:
+            b.sample(item, min_distance=0.01, ignore_collisions=True)
+
+        return ['sweep dirt to dustpan',
+                'sweep the dirt up',
+                'use the broom to brush the dirt into the dustpan',
+                'clean up the dirt',
+                'pick up the brush and clean up the table',
+                'grasping the broom by its handle, clear way the dirt from the '
+                'table',
+                'leave the table clean']
+
+    def variation_count(self) -> int:
+        return 1
+    
+    def is_static_workspace(self):
+        return True
diff --git a/external/rlbench/rlbench/bimanual_tasks/bimanual_take_tray_out_of_oven.py b/external/rlbench/rlbench/bimanual_tasks/bimanual_take_tray_out_of_oven.py
new file mode 100644
index 0000000000000000000000000000000000000000..3b342c014d9739e06734bc4fb291b53ac04b1631
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/bimanual_take_tray_out_of_oven.py
@@ -0,0 +1,43 @@
+from collections import defaultdict
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.robot import BimanualRobot
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import BimanualTask
+
+class BimanualTakeTrayOutOfOven(BimanualTask):
+
+    def init_task(self) -> None:
+        success_detector = ProximitySensor('success')
+        tray = Shape('tray')
+        assert(isinstance(self.robot, BimanualRobot))
+        self.register_graspable_objects([tray])
+        self.register_success_conditions(
+            [DetectedCondition(tray, success_detector, negated=True),
+             NothingGrasped(self.robot.right_gripper), NothingGrasped(self.robot.left_gripper)])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        for i in range(4):
+            self.waypoint_mapping[f'waypoint{i}'] = 'right'
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take tray out of oven',
+                'open the oven and take the baking tray out',
+                'grasp the handle on the over door, open it, and remove the '
+                'tray from the oven',
+                'get the baking tray from the oven',
+                'get the tray',
+                'take out the tray',
+                'retrieve the oven tray']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('oven_boundary_root')
diff --git a/external/rlbench/rlbench/bimanual_tasks/coordinated_close_jar.py b/external/rlbench/rlbench/bimanual_tasks/coordinated_close_jar.py
new file mode 100644
index 0000000000000000000000000000000000000000..09067878506be7402b9fa8f04a1bf1361defe259
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/coordinated_close_jar.py
@@ -0,0 +1,86 @@
+from typing import List, Tuple
+from rlbench.backend.task import Task
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.const import colors
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.robot import BimanualRobot
+from rlbench.backend.robot import Robot
+from rlbench.backend.task import BimanualTask
+
+from pyrep.objects.dummy import Dummy
+from pyrep import PyRep
+from collections import defaultdict
+
+class CoordinatedCloseJar(BimanualTask):
+
+    # waypoints for right robot: 0,1,2
+    # place / pickup cup 6,7,8
+
+    def init_task(self) -> None:
+        self.lid = Shape('jar_lid0')
+        self.jars = [Shape('jar%d' % i) for i in range(2)]
+        self.register_graspable_objects([self.lid])
+        self.boundary = Shape('spawn_boundary')
+        self.conditions = [NothingGrasped(self.robot.left_gripper), NothingGrasped(self.robot.right_gripper)]
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        for i in range(7):
+            self.waypoint_mapping[f'waypoint{i}'] = 'right'
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        b = SpawnBoundary([self.boundary])
+        for obj in self.jars:
+            print(f"print sampling for jar {obj}")
+            b.sample(obj, min_distance=0.01)
+        print("ok")
+        success = ProximitySensor('success')
+        success.set_position([0.0, 0.0, 0.05], relative_to=self.jars[index % 2],
+                             reset_dynamics=False)
+
+        w0 = Dummy('waypoint0')
+        w0.set_orientation([-np.pi, 0, -np.pi], reset_dynamics=False)
+        w0.set_position([0.0, 0.0, 0.125], relative_to=self.lid,
+                        reset_dynamics=False)
+
+
+        w3 = Dummy('waypoint10')
+        w3.set_orientation([-np.pi, 0, -np.pi], reset_dynamics=False)
+        w3.set_position([0.0, 0.0, 0.125], relative_to=self.jars[index % 2],
+                        reset_dynamics=False)
+        target_color_name, target_color_rgb = colors[index]
+        color_choice = np.random.choice(
+            list(range(index)) + list(
+                range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        _, distractor_color_rgb = colors[color_choice]
+        self.jars[index % 2].set_color(target_color_rgb)
+        other_index = {0: 1, 1: 0}
+        self.jars[other_index[index % 2]].set_color(distractor_color_rgb)
+        self.conditions += [DetectedCondition(self.lid, success)]
+        self.register_success_conditions(self.conditions)
+        return ['close the %s jar' % target_color_name,
+                'screw on the %s jar lid' % target_color_name,
+                'grasping the lid, lift it from the table and use it to seal '
+                'the %s jar' % target_color_name,
+                'pick up the lid from the table and put it on the %s jar'
+                % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def cleanup(self) -> None:
+        self.conditions = [NothingGrasped(self.robot.left_gripper), NothingGrasped(self.robot.right_gripper)]
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        # This is here to stop the issue of gripper rotation joint reaching its
+        # limit and not being able to go through the full range of rotation to
+        # unscrew, leading to a weird jitery and tilted cap while unscrewing.
+        # Issue occured rarely so is only minor
+        return (0.0, 0.0, -0.6*np.pi), (0.0, 0.0, +0.6*np.pi)
diff --git a/external/rlbench/rlbench/bimanual_tasks/coordinated_lift_stick.py b/external/rlbench/rlbench/bimanual_tasks/coordinated_lift_stick.py
new file mode 100644
index 0000000000000000000000000000000000000000..661eafd65f8aec96f1fa3e85a429d0c680c52e9d
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/coordinated_lift_stick.py
@@ -0,0 +1,47 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.conditions import Condition
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+class CoordinatedLiftStick(BimanualTask):
+
+    def init_task(self) -> None:
+
+        self.queue = Shape('queue')
+        self.register_graspable_objects([self.queue])
+
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        self.waypoint_mapping.update({'waypoint0': 'left', 'waypoint2': 'left',  'waypoint4': 'left',  'waypoint6': 'left'})
+
+
+    def init_episode(self, index) -> List[str]:
+        self._variation_index = index
+
+        self.register_success_conditions([LiftedCondition(self.queue, 1.2),])
+        return ['lift the stick']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
\ No newline at end of file
diff --git a/external/rlbench/rlbench/bimanual_tasks/coordinated_put_item_in_drawer_right.py b/external/rlbench/rlbench/bimanual_tasks/coordinated_put_item_in_drawer_right.py
new file mode 100644
index 0000000000000000000000000000000000000000..e0d0f386827af805936a647912c450a31ffedfa3
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/coordinated_put_item_in_drawer_right.py
@@ -0,0 +1,46 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+
+class CoordinatedPutItemInDrawerRight(BimanualTask):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+        self._item = Shape('item')
+        self.register_graspable_objects([self._item])
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint0': 'right', 'waypoint1': 'right', 'waypoint2': 'right'})
+
+
+    def init_episode(self, index) -> List[str]:
+        self._variation_index = index
+        option = self._options[index]
+        anchor = self._anchors[index]
+        self._waypoint1.set_position(anchor.get_position())
+        success_sensor = ProximitySensor('success_' + option)
+        self.register_success_conditions(
+            [DetectedCondition(self._item, success_sensor)])
+        return ['put the item in the %s drawer' % option,
+                'put the block away in the %s drawer' % option,
+                'open the %s drawer and place the block inside of it' % option,
+                'leave the block in the %s drawer' % option]
+
+    def variation_count(self) -> int:
+        return 3 #len(self._options)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/coordinated_take_shoes_out_of_box.py b/external/rlbench/rlbench/bimanual_tasks/coordinated_take_shoes_out_of_box.py
new file mode 100644
index 0000000000000000000000000000000000000000..324e4b9ca515ff0873671eb7be7a805080317015
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/coordinated_take_shoes_out_of_box.py
@@ -0,0 +1,44 @@
+from typing import List, Tuple
+import numpy as np
+from collections import defaultdict
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.conditions import NothingGrasped
+from rlbench.backend.task import BimanualTask
+
+class CoordinatedTakeShoesOutOfBox(BimanualTask):
+
+    def init_task(self) -> None:
+        shoe1, shoe2 = Shape('shoe1'), Shape('shoe2')
+        self.register_graspable_objects([shoe1, shoe2])
+        success_sensor = ProximitySensor('success_out_box')
+        self.register_success_conditions([
+            DetectedCondition(shoe1, success_sensor),
+            DetectedCondition(shoe2, success_sensor),
+            NothingGrasped(self.robot.right_gripper),
+            NothingGrasped(self.robot.left_gripper)])
+        
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        for i in range(1,5):
+            self.waypoint_mapping[f'waypoint{i}'] = 'left'
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take shoes out of box',
+                'open the shoe box and take the shoes out',
+                'put the shoes found inside the box on the table',
+                'set the shoes down on the table',
+                'pick up the shoes from the box and put them down',
+                'grasp the edge of the box lid to open it, then grasp each shoe'
+                ', lifting up out of the shoe box and leaving them down on the '
+                'table']
+
+    def variation_count(self) -> int:
+        return 1
+    
+    def is_static_workspace(self):
+        return True
+    
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/handover_item_medium.py b/external/rlbench/rlbench/bimanual_tasks/handover_item_medium.py
new file mode 100644
index 0000000000000000000000000000000000000000..6873ef7c358287e1b69b3bcfd8ffa4cdf2c3846d
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/handover_item_medium.py
@@ -0,0 +1,92 @@
+from collections import defaultdict
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import BimanualTask
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.object import Object
+from rlbench.backend.conditions import Condition
+
+colors = [
+    ('red', (1.0, 0.0, 0.0)),
+    ('green', (0.0, 1.0, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+]
+
+class LiftedCondition(Condition):
+
+    def __init__(self, item: Shape, min_height: float):
+        self.item = item
+        self.min_height = min_height
+
+    def condition_met(self):
+        pos = self.item.get_position()
+        return pos[2] >= self.min_height, False
+
+class HandoverItemMedium(BimanualTask):
+
+    def init_task(self) -> None:
+
+        self.items = [Shape(f'item{i}') for i in range(3)]
+
+        for i, (_, color) in enumerate(colors):
+            self.items[i].set_color(color)
+
+        self.register_graspable_objects(self.items)
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint0': 'right', 'waypoint5': 'right'})
+
+        self.boundaries = Shape('handover_item_boundary')
+
+
+    def init_episode(self, index: int) -> List[str]:
+
+        self._variation_index = index
+
+        color_name, _color = colors[index]
+
+
+        b = SpawnBoundary([self.boundaries])
+        b.clear()
+        for item in self.items:
+            b.sample(item, min_distance=0.1)
+            
+
+        w0 = Dummy('waypoint2')
+        w0.set_position([0.0, 0.0, -0.025], relative_to=self.items[index], reset_dynamics=False)
+        #w0.set_orientation([-np.pi, 0, -np.pi], relative_to=self.items[index], reset_dynamics=False)
+
+        w1 = Dummy('waypoint1')
+        w1.set_position([0.0, 0.0, 0.1], relative_to=self.items[index], reset_dynamics=False)
+
+        w3 = Dummy('waypoint3')
+        w3.set_position([0.0, 0.0, 0.3], relative_to=self.items[index], reset_dynamics=False)
+
+
+        right_success_sensor = ProximitySensor('Panda_rightArm_gripper_attachProxSensor')
+        left_success_sensor = ProximitySensor('Panda_leftArm_gripper_attachProxSensor')
+
+        self.register_success_conditions(
+            [DetectedCondition(self.items[index], right_success_sensor),  
+             DetectedCondition(self.items[index], left_success_sensor, negated=True),
+             LiftedCondition(self.items[index], 0.8)])
+
+        return [f'bring me the {color_name} item',
+                f'hand over the {color_name} object']
+
+    def variation_count(self) -> int:
+        return len(colors)
+    
+    def boundary_root(self) -> Object:
+        return Shape('handover_item_boundary')
+    
+    def is_static_workspace(self):
+        return True
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/left_open_drawer.py b/external/rlbench/rlbench/bimanual_tasks/left_open_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..76b59bf4b1187c2f2b507efdf7fbb3df03b32481
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/left_open_drawer.py
@@ -0,0 +1,47 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+class LeftOpenDrawer(BimanualTask):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint3': 'right'})
+
+        
+
+    def init_episode(self, index: int) -> List[str]:
+
+        self._variation_index = index
+
+        right_tcp = Dummy('Panda_rightArm_tip')
+
+        Dummy('waypoint3').set_position(position=(0,0,0),relative_to=right_tcp)
+        Dummy('waypoint3').set_orientation(orientation=(0,0,0), relative_to=right_tcp)
+    
+
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+        return ['open the %s drawer' % option,
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/right_open_drawer.py b/external/rlbench/rlbench/bimanual_tasks/right_open_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..296ee4c60d691e73e8e962ad9c3de3a9030f9b64
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/right_open_drawer.py
@@ -0,0 +1,44 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+class RightOpenDrawer(BimanualTask):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        self.waypoint_mapping.update({'waypoint3': 'left'})
+
+    def init_episode(self, index: int) -> List[str]:
+
+        self._variation_index = index
+
+        left_tcp = Dummy('Panda_leftArm_tip')
+
+        Dummy('waypoint3').set_position(position=(0,0,0), relative_to=left_tcp)
+        Dummy('waypoint3').set_orientation(orientation=(0,0,0), relative_to=left_tcp)
+        
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+        return ['open the %s drawer' % option,
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/bimanual_tasks/unimanual_push_single_button_left.py b/external/rlbench/rlbench/bimanual_tasks/unimanual_push_single_button_left.py
new file mode 100644
index 0000000000000000000000000000000000000000..390866149fcc0bd7050dd397ea94d88ef6b41119
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/unimanual_push_single_button_left.py
@@ -0,0 +1,176 @@
+from typing import List
+import itertools
+import math
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import JointCondition, ConditionSet
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+MAX_TARGET_BUTTONS = 1
+MAX_VARIATIONS = 50
+
+# button top plate and wrapper will be be red before task completion
+# and be changed to cyan upon success of task, so colors list used to randomly vary colors of
+# base block will be redefined, excluding red and green
+colors = [
+    ('maroon', (0.5, 0.0, 0.0)),
+    ('green', (0.0, 0.5, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('navy', (0.0, 0.0, 0.5)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    ('cyan', (0.0, 1.0, 1.0)),
+    ('magenta', (1.0, 0.0, 1.0)),
+    ('silver', (0.75, 0.75, 0.75)),
+    ('gray', (0.5, 0.5, 0.5)),
+    ('orange', (1.0, 0.5, 0.0)),
+    ('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    ('teal', (0, 0.5, 0.5)),
+    ('azure', (0.0, 0.5, 1.0)),
+    ('violet', (0.5, 0.0, 1.0)),
+    ('rose', (1.0, 0.0, 0.5)),
+    ('black', (0.0, 0.0, 0.0)),
+    ('white', (1.0, 1.0, 1.0)),
+]
+
+color_permutations = list(itertools.permutations(colors, 3))
+
+
+class UnimanualPushSingleButtonLeft(BimanualTask):
+
+
+    def init_task(self) -> None:
+        self.buttons_pushed = 0
+        self.color_variation_index = 0
+        self.target_buttons = [Shape('push_buttons_target%d' % i)
+                               for i in range(3)]
+        self.target_topPlates = [Shape('target_button_topPlate%d' % i)
+                                 for i in range(3)]
+        self.target_joints = [Joint('target_button_joint%d' % i)
+                              for i in range(3)]
+        self.target_wraps = [Shape('target_button_wrap%d' % i)
+                             for i in range(3)]
+        self.boundaries = Shape('push_buttons_boundary')
+        # goal_conditions merely state joint conditions for push action for
+        # each button regardless of whether the task involves pushing it
+        self.goal_conditions = [JointCondition(self.target_joints[n], 0.001)
+                                for n in range(3)]
+
+        self.waypoint_mapping = defaultdict(lambda: 'left')
+        self.waypoint_mapping.update({'waypoint2': 'right'})
+
+        #left_tcp = Dummy('Panda_leftArm_tip')
+#
+        #Dummy('waypoint2').set_position(position=(0,0,0), relative_to=left_tcp)
+        #Dummy('waypoint2').set_orientation(orientation=(0,0,0), relative_to=left_tcp)
+
+        #self.register_waypoint_ability_start(0, self._move_above_next_target)
+        #self.register_waypoints_should_repeat(self._repeat)
+
+
+    def init_episode(self, index: int) -> List[str]:
+
+
+        for tp in self.target_topPlates:
+            tp.set_color([1.0, 0.0, 0.0])
+        for w in self.target_wraps:
+            w.set_color([1.0, 0.0, 0.0])
+        # For each color permutation, we want to have 1, 2 or 3 buttons pushed
+        color_index = int(index / MAX_TARGET_BUTTONS)
+        self.buttons_to_push = 1 + index % MAX_TARGET_BUTTONS
+        button_colors = color_permutations[color_index]
+
+        self.color_names = []
+        self.color_rgbs = []
+        self.chosen_colors = []
+        i = 0
+        for b in self.target_buttons:
+            color_name, color_rgb = button_colors[i]
+            self.color_names.append(color_name)
+            self.color_rgbs.append(color_rgb)
+            self.chosen_colors.append((color_name, color_rgb))
+            b.set_color(color_rgb)
+            i += 1
+
+        # for task success, all button to push must have green color RGB
+        self.success_conditions = []
+        for i in range(self.buttons_to_push):
+            self.success_conditions.append(self.goal_conditions[i])
+
+        self.register_success_conditions(
+            [ConditionSet(self.success_conditions, True, False)])
+
+        rtn0 = 'push the %s button' % self.color_names[0]
+        rtn1 = 'press the %s button' % self.color_names[0]
+        rtn2 = 'push down the button with the %s base' % self.color_names[0]
+        for i in range(self.buttons_to_push):
+            if i == 0:
+                continue
+            else:
+                rtn0 += ', then push the %s button' % self.color_names[i]
+                rtn1 += ', then press the %s button' % self.color_names[i]
+                rtn2 += ', then the %s one' % self.color_names[i]
+
+        b = SpawnBoundary([self.boundaries])
+        for button in self.target_buttons:
+            b.sample(button, min_distance=0.1)
+
+        num_non_targets = 3 - self.buttons_to_push
+        spare_colors = list(set(colors)
+                            - set(
+            [self.chosen_colors[i] for i in range(self.buttons_to_push)]))
+
+        spare_color_rgbs = []
+        for i in range(len(spare_colors)):
+            _, rgb = spare_colors[i]
+            spare_color_rgbs.append(rgb)
+
+        color_choice_indexes = np.random.choice(range(len(spare_colors)),
+                                                size=num_non_targets,
+                                                replace=False)
+        non_target_index = 0
+        for i, button in enumerate(self.target_buttons):
+            if i in range(self.buttons_to_push):
+                pass
+            else:
+                _, rgb = spare_colors[color_choice_indexes[non_target_index]]
+                button.set_color(rgb)
+                non_target_index += 1
+
+        
+        left_tcp = Dummy('Panda_rightArm_tip')
+        Dummy('waypoint2').set_position(position=(0,0,0), relative_to=left_tcp)
+        Dummy('waypoint2').set_orientation(orientation=(0,0,0), relative_to=left_tcp)
+
+
+
+        w0 = Dummy('waypoint0')
+        x, y, z = self.target_buttons[0].get_position()
+        w0.set_position([x, y, z + 0.083])
+        w0.set_orientation([math.pi, 0, math.pi])
+
+
+
+        return [rtn0, rtn1, rtn2]
+
+    def variation_count(self) -> int:
+        return np.minimum(
+            len(color_permutations) * MAX_TARGET_BUTTONS, MAX_VARIATIONS)
+
+    def step(self) -> None:
+        for i in range(len(self.target_buttons)):
+            if self.goal_conditions[i].condition_met() == (True, True):
+                self.target_topPlates[i].set_color([0.0, 1.0, 0.0])
+                self.target_wraps[i].set_color([0.0, 1.0, 0.0])
+
+    def cleanup(self) -> None:
+        self.buttons_pushed = 0
+
+
+    def is_static_workspace(self):
+        return True
\ No newline at end of file
diff --git a/external/rlbench/rlbench/bimanual_tasks/unimanual_push_single_button_right.py b/external/rlbench/rlbench/bimanual_tasks/unimanual_push_single_button_right.py
new file mode 100644
index 0000000000000000000000000000000000000000..179183ecc5755b12d1c6a41690ea6edbd55fa6cc
--- /dev/null
+++ b/external/rlbench/rlbench/bimanual_tasks/unimanual_push_single_button_right.py
@@ -0,0 +1,176 @@
+from typing import List
+import itertools
+import math
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import JointCondition, ConditionSet
+from rlbench.backend.task import BimanualTask
+from collections import defaultdict
+
+MAX_TARGET_BUTTONS = 1
+MAX_VARIATIONS = 50
+
+# button top plate and wrapper will be be red before task completion
+# and be changed to cyan upon success of task, so colors list used to randomly vary colors of
+# base block will be redefined, excluding red and green
+colors = [
+    ('maroon', (0.5, 0.0, 0.0)),
+    ('green', (0.0, 0.5, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('navy', (0.0, 0.0, 0.5)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    ('cyan', (0.0, 1.0, 1.0)),
+    ('magenta', (1.0, 0.0, 1.0)),
+    ('silver', (0.75, 0.75, 0.75)),
+    ('gray', (0.5, 0.5, 0.5)),
+    ('orange', (1.0, 0.5, 0.0)),
+    ('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    ('teal', (0, 0.5, 0.5)),
+    ('azure', (0.0, 0.5, 1.0)),
+    ('violet', (0.5, 0.0, 1.0)),
+    ('rose', (1.0, 0.0, 0.5)),
+    ('black', (0.0, 0.0, 0.0)),
+    ('white', (1.0, 1.0, 1.0)),
+]
+
+color_permutations = list(itertools.permutations(colors, 3))
+
+
+class UnimanualPushSingleButtonRight(BimanualTask):
+
+
+    def init_task(self) -> None:
+        self.buttons_pushed = 0
+        self.color_variation_index = 0
+        self.target_buttons = [Shape('push_buttons_target%d' % i)
+                               for i in range(3)]
+        self.target_topPlates = [Shape('target_button_topPlate%d' % i)
+                                 for i in range(3)]
+        self.target_joints = [Joint('target_button_joint%d' % i)
+                              for i in range(3)]
+        self.target_wraps = [Shape('target_button_wrap%d' % i)
+                             for i in range(3)]
+        self.boundaries = Shape('push_buttons_boundary')
+        # goal_conditions merely state joint conditions for push action for
+        # each button regardless of whether the task involves pushing it
+        self.goal_conditions = [JointCondition(self.target_joints[n], 0.001)
+                                for n in range(3)]
+
+        self.waypoint_mapping = defaultdict(lambda: 'right')
+        self.waypoint_mapping.update({'waypoint2': 'left'})
+
+        #left_tcp = Dummy('Panda_leftArm_tip')
+#
+        #Dummy('waypoint2').set_position(position=(0,0,0), relative_to=left_tcp)
+        #Dummy('waypoint2').set_orientation(orientation=(0,0,0), relative_to=left_tcp)
+
+        #self.register_waypoint_ability_start(0, self._move_above_next_target)
+        #self.register_waypoints_should_repeat(self._repeat)
+
+
+    def init_episode(self, index: int) -> List[str]:
+
+
+        for tp in self.target_topPlates:
+            tp.set_color([1.0, 0.0, 0.0])
+        for w in self.target_wraps:
+            w.set_color([1.0, 0.0, 0.0])
+        # For each color permutation, we want to have 1, 2 or 3 buttons pushed
+        color_index = int(index / MAX_TARGET_BUTTONS)
+        self.buttons_to_push = 1 + index % MAX_TARGET_BUTTONS
+        button_colors = color_permutations[color_index]
+
+        self.color_names = []
+        self.color_rgbs = []
+        self.chosen_colors = []
+        i = 0
+        for b in self.target_buttons:
+            color_name, color_rgb = button_colors[i]
+            self.color_names.append(color_name)
+            self.color_rgbs.append(color_rgb)
+            self.chosen_colors.append((color_name, color_rgb))
+            b.set_color(color_rgb)
+            i += 1
+
+        # for task success, all button to push must have green color RGB
+        self.success_conditions = []
+        for i in range(self.buttons_to_push):
+            self.success_conditions.append(self.goal_conditions[i])
+
+        self.register_success_conditions(
+            [ConditionSet(self.success_conditions, True, False)])
+
+        rtn0 = 'push the %s button' % self.color_names[0]
+        rtn1 = 'press the %s button' % self.color_names[0]
+        rtn2 = 'push down the button with the %s base' % self.color_names[0]
+        for i in range(self.buttons_to_push):
+            if i == 0:
+                continue
+            else:
+                rtn0 += ', then push the %s button' % self.color_names[i]
+                rtn1 += ', then press the %s button' % self.color_names[i]
+                rtn2 += ', then the %s one' % self.color_names[i]
+
+        b = SpawnBoundary([self.boundaries])
+        for button in self.target_buttons:
+            b.sample(button, min_distance=0.1)
+
+        num_non_targets = 3 - self.buttons_to_push
+        spare_colors = list(set(colors)
+                            - set(
+            [self.chosen_colors[i] for i in range(self.buttons_to_push)]))
+
+        spare_color_rgbs = []
+        for i in range(len(spare_colors)):
+            _, rgb = spare_colors[i]
+            spare_color_rgbs.append(rgb)
+
+        color_choice_indexes = np.random.choice(range(len(spare_colors)),
+                                                size=num_non_targets,
+                                                replace=False)
+        non_target_index = 0
+        for i, button in enumerate(self.target_buttons):
+            if i in range(self.buttons_to_push):
+                pass
+            else:
+                _, rgb = spare_colors[color_choice_indexes[non_target_index]]
+                button.set_color(rgb)
+                non_target_index += 1
+
+        
+        left_tcp = Dummy('Panda_leftArm_tip')
+        Dummy('waypoint2').set_position(position=(0,0,0), relative_to=left_tcp)
+        Dummy('waypoint2').set_orientation(orientation=(0,0,0), relative_to=left_tcp)
+
+
+
+        w0 = Dummy('waypoint0')
+        x, y, z = self.target_buttons[0].get_position()
+        w0.set_position([x, y, z + 0.083])
+        w0.set_orientation([math.pi, 0, math.pi])
+
+
+
+        return [rtn0, rtn1, rtn2]
+
+    def variation_count(self) -> int:
+        return np.minimum(
+            len(color_permutations) * MAX_TARGET_BUTTONS, MAX_VARIATIONS)
+
+    def step(self) -> None:
+        for i in range(len(self.target_buttons)):
+            if self.goal_conditions[i].condition_met() == (True, True):
+                self.target_topPlates[i].set_color([0.0, 1.0, 0.0])
+                self.target_wraps[i].set_color([0.0, 1.0, 0.0])
+
+    def cleanup(self) -> None:
+        self.buttons_pushed = 0
+
+
+    def is_static_workspace(self):
+        return True
\ No newline at end of file
diff --git a/external/rlbench/rlbench/const.py b/external/rlbench/rlbench/const.py
new file mode 100644
index 0000000000000000000000000000000000000000..24ca2c221661d896e04dba540f44c80e446fe842
--- /dev/null
+++ b/external/rlbench/rlbench/const.py
@@ -0,0 +1,48 @@
+from pyrep.robots.arms.jaco import Jaco
+from pyrep.robots.arms.mico import Mico
+from pyrep.robots.arms.panda import Panda
+from pyrep.robots.arms.dual_panda import PandaLeft, PandaRight
+from pyrep.robots.arms.sawyer import Sawyer
+from pyrep.robots.arms.ur5 import UR5
+from pyrep.robots.end_effectors.baxter_gripper import BaxterGripper
+from pyrep.robots.end_effectors.jaco_gripper import JacoGripper
+from pyrep.robots.end_effectors.mico_gripper import MicoGripper
+from pyrep.robots.end_effectors.panda_gripper import PandaGripper
+from pyrep.robots.end_effectors.robotiq85_gripper import Robotiq85Gripper
+from pyrep.robots.end_effectors.dual_panda_gripper import PandaGripperLeft, PandaGripperRight
+
+
+
+colors = [
+    ('red', (1.0, 0.0, 0.0)),
+    ('maroon', (0.5, 0.0, 0.0)),
+    ('lime', (0.0, 1.0, 0.0)),
+    ('green', (0.0, 0.5, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('navy', (0.0, 0.0, 0.5)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    ('cyan', (0.0, 1.0, 1.0)),
+    ('magenta', (1.0, 0.0, 1.0)),
+    ('silver', (0.75, 0.75, 0.75)),
+    ('gray', (0.5, 0.5, 0.5)),
+    ('orange', (1.0, 0.5, 0.0)),
+    ('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    ('teal', (0, 0.5, 0.5)),
+    ('azure', (0.0, 0.5, 1.0)),
+    ('violet', (0.5, 0.0, 1.0)),
+    ('rose', (1.0, 0.0, 0.5)),
+    ('black', (0.0, 0.0, 0.0)),
+    ('white', (1.0, 1.0, 1.0)),
+]
+
+# Arms from PyRep need to be modified to include a wrist camera.
+# Currently, only the arms/grippers below are supported.
+SUPPORTED_ROBOTS = {
+    'panda': (Panda, PandaGripper, 7),
+    'jaco': (Jaco, JacoGripper, 6),
+    'mico': (Mico, MicoGripper, 6),
+    'sawyer': (Sawyer, BaxterGripper, 7),
+    'ur5': (UR5, Robotiq85Gripper, 6),
+    'dual_panda': (PandaRight, PandaGripperRight, 14)
+}
diff --git a/external/rlbench/rlbench/demo.py b/external/rlbench/rlbench/demo.py
new file mode 100644
index 0000000000000000000000000000000000000000..c3ce0a1c648e0d56f2a7903f97ce9786e1986e79
--- /dev/null
+++ b/external/rlbench/rlbench/demo.py
@@ -0,0 +1,18 @@
+import numpy as np
+
+
+class Demo(object):
+
+    def __init__(self, observations, random_seed=None):
+        self._observations = observations
+        self.random_seed = random_seed
+        self.variation_number = 0
+
+    def __len__(self):
+        return len(self._observations)
+
+    def __getitem__(self, i):
+        return self._observations[i]
+
+    def restore_state(self):
+        np.random.set_state(self.random_seed)
diff --git a/external/rlbench/rlbench/environment.py b/external/rlbench/rlbench/environment.py
new file mode 100644
index 0000000000000000000000000000000000000000..edc7c3ee50a25d8c19c5bb6384675b99c1c5d9ed
--- /dev/null
+++ b/external/rlbench/rlbench/environment.py
@@ -0,0 +1,239 @@
+import importlib
+from os.path import exists, dirname, abspath, join
+from typing import Type, List
+import pickle
+
+from pyrep import PyRep
+from pyrep.objects import VisionSensor
+from pyrep.robots.arms.panda import Panda
+from pyrep.robots.end_effectors.panda_gripper import PandaGripper
+from pyrep.robots.arms.dual_panda import PandaLeft
+from pyrep.robots.arms.dual_panda import PandaRight
+from pyrep.robots.end_effectors.dual_panda_gripper import PandaGripperRight
+from pyrep.robots.end_effectors.dual_panda_gripper import PandaGripperLeft
+
+from rlbench import utils
+from rlbench.action_modes.action_mode import ActionMode
+from rlbench.backend.const import *
+from rlbench.backend.robot import Robot
+from rlbench.backend.robot import UnimanualRobot
+from rlbench.backend.robot import BimanualRobot
+from rlbench.backend.scene import Scene
+from rlbench.backend.task import Task
+from rlbench.const import SUPPORTED_ROBOTS
+from rlbench.demo import Demo
+from rlbench.observation_config import ObservationConfig
+from rlbench.sim2real.domain_randomization import RandomizeEvery, \
+    VisualRandomizationConfig, DynamicsRandomizationConfig
+from rlbench.sim2real.domain_randomization_scene import DomainRandomizationScene
+from rlbench.task_environment import TaskEnvironment
+
+import logging
+
+DIR_PATH = dirname(abspath(__file__))
+
+
+class Environment(object):
+    """Each environment has a scene."""
+
+    def __init__(self,
+                 action_mode: ActionMode,
+                 dataset_root: str = '',
+                 obs_config: ObservationConfig = ObservationConfig(),
+                 headless: bool = False,
+                 static_positions: bool = False,
+                 robot_setup: str = 'panda',
+                 randomize_every: RandomizeEvery = None,
+                 frequency: int = 1,
+                 visual_randomization_config: VisualRandomizationConfig = None,
+                 dynamics_randomization_config: DynamicsRandomizationConfig = None,
+                 attach_grasped_objects: bool = True,
+                 shaped_rewards: bool = False
+                 ):
+
+        self._dataset_root = dataset_root
+        self._action_mode = action_mode
+        self._obs_config = obs_config
+        self._headless = headless
+        self._static_positions = static_positions
+        self._robot_setup = robot_setup.lower()
+
+        self._randomize_every = randomize_every
+        self._frequency = frequency
+        self._visual_randomization_config = visual_randomization_config
+        self._dynamics_randomization_config = dynamics_randomization_config
+        self._attach_grasped_objects = attach_grasped_objects
+        self._shaped_rewards = shaped_rewards
+
+        if robot_setup not in SUPPORTED_ROBOTS.keys():
+            raise ValueError('robot_configuration must be one of %s' %
+                             str(SUPPORTED_ROBOTS.keys()))
+
+        if (randomize_every is not None and
+                visual_randomization_config is None and
+                dynamics_randomization_config is None):
+            raise ValueError(
+                'If domain randomization is enabled, must supply either '
+                'visual_randomization_config or dynamics_randomization_config')
+
+        self._check_dataset_structure()
+        self._pyrep = None
+        self._robot = None
+        self._scene = None
+        self._prev_task = None
+
+    def _check_dataset_structure(self):
+        if len(self._dataset_root) > 0 and not exists(self._dataset_root):
+            raise RuntimeError(
+                'Data set root does not exists: %s' % self._dataset_root)
+
+    def _string_to_task(self, task_name: str):
+        task_name = task_name.replace('.py', '')
+        try:
+            class_name = ''.join(
+                [w[0].upper() + w[1:] for w in task_name.split('_')])
+            mod = importlib.import_module("rlbench.tasks.%s" % task_name)
+        except Exception as e:
+            raise RuntimeError(
+                'Tried to interpret %s as a task, but failed. Only valid tasks '
+                'should belong in the tasks/ folder' % task_name) from e
+        return getattr(mod, class_name)
+
+    def launch(self):
+        if self._pyrep is not None:
+            raise RuntimeError('Already called launch!')
+        self._pyrep = PyRep()
+        if self._robot_setup == 'dual_panda':
+            self._pyrep.launch(join(DIR_PATH, BIMANUAL_TTT_FILE), headless=self._headless)
+        else:
+            self._pyrep.launch(join(DIR_PATH, TTT_FILE), headless=self._headless)
+
+        arm_class, gripper_class, _ = SUPPORTED_ROBOTS[
+            self._robot_setup]
+
+
+        if self._robot_setup == 'dual_panda':
+
+            logging.info("Using dual panda robot")
+           
+            #panda_arm = Panda()
+            #panda_pos = panda_arm.get_position()
+            #panda_arm.remove()
+
+            right_arm = PandaRight()
+            left_arm = PandaLeft()
+            right_gripper = PandaGripperRight()
+            left_gripper = PandaGripperLeft()
+
+            # ..not updating position as we assume that the scene already contains two pandas which are placed correctly     
+            #relative_left_position = left_arm.get_position(relative_to=right_arm)            
+            #right_arm.set_position(panda_pos)
+            #left_arm.set_position(relative_left_position, relative_to=right_arm)
+
+            self._robot = BimanualRobot(right_arm, right_gripper, left_arm, left_gripper)
+
+        # We assume the panda is already loaded in the scene.
+        elif self._robot_setup != 'panda':
+            # Remove the panda from the scene
+            panda_arm = Panda()
+            panda_pos = panda_arm.get_position()
+            panda_arm.remove()
+            arm_path = join(DIR_PATH, 'robot_ttms', self._robot_setup + '.ttm')
+            self._pyrep.import_model(arm_path)
+            arm, gripper = arm_class(), gripper_class()
+            arm.set_position(panda_pos)
+            self._robot = UnimanualRobot(arm, gripper)
+        else:
+            arm, gripper = arm_class(), gripper_class()
+            self._robot = UnimanualRobot(arm, gripper)
+
+
+        if self._randomize_every is None:
+            self._scene = Scene(
+                self._pyrep, self._robot, self._obs_config, self._robot_setup)
+        else:
+            self._scene = DomainRandomizationScene(
+                self._pyrep, self._robot, self._obs_config, self._robot_setup,
+                self._randomize_every, self._frequency,
+                self._visual_randomization_config,
+                self._dynamics_randomization_config)
+
+        self._action_mode.arm_action_mode.set_control_mode(self._robot)
+
+    def shutdown(self):
+        if self._pyrep is not None:
+            self._pyrep.shutdown()
+        self._pyrep = None
+
+    def get_task(self, task_class: Type[Task]) -> TaskEnvironment:
+
+        # If user hasn't called launch, implicitly call it.
+        if self._pyrep is None:
+            self.launch()
+        self._scene.unload()
+        task = task_class(self._pyrep, self._robot)
+        self._prev_task = task
+        return TaskEnvironment(
+            self._pyrep, self._robot, self._scene, task,
+            self._action_mode, self._dataset_root, self._obs_config,
+            self._static_positions, self._attach_grasped_objects,
+            self._shaped_rewards)
+
+    @property
+    def action_shape(self):
+        return self._action_mode.action_shape(self._scene),
+
+    def get_demos(self, task_name: str, amount: int,
+                  variation_number=0,
+                  image_paths=False,
+                  random_selection: bool = True,
+                  from_episode_number: int = 0) -> List[Demo]:
+        if self._dataset_root is None or len(self._dataset_root) == 0:
+            raise RuntimeError(
+                "Can't ask for a stored demo when no dataset root provided.")
+        demos = utils.get_stored_demos(
+            amount, image_paths, self._dataset_root, variation_number,
+            task_name, self._obs_config, random_selection, from_episode_number)
+        return demos
+
+    def get_task_descriptions_with_episode(self, task_name: str,
+                                           episode_number: int) -> List[str]:
+        episode_description_pkl_file = join(self._dataset_root,
+                                            f'{task_name}',
+                                            VARIATIONS_ALL_FOLDER,
+                                            EPISODES_FOLDER,
+                                            EPISODE_FOLDER % episode_number,
+                                            VARIATION_DESCRIPTIONS)
+        with open(episode_description_pkl_file, 'rb') as f:
+            episode_description = pickle.load(f)
+
+        return episode_description
+
+    def get_scene_data(self) -> dict:
+        """Get the data of various scene/camera information.
+
+        This temporarily starts the simulator in headless mode.
+
+        :return: A dictionary containing scene data.
+        """
+
+        def _get_cam_info(cam: VisionSensor):
+            if not cam.still_exists():
+                logging.warning("Camera no longer exists")
+                return None
+            intrinsics = cam.get_intrinsic_matrix()
+            return dict(
+                intrinsics=intrinsics,
+                near_plane=cam.get_near_clipping_plane(),
+                far_plane=cam.get_far_clipping_plane(),
+                extrinsics=cam.get_matrix())
+
+        headless = self._headless
+        self._headless = True
+        self.launch()
+
+        d = {camera_name: _get_cam_info(sensor) for camera_name, sensor in self._scene.camera_sensors}
+
+        self.shutdown()
+        self._headless = headless
+        return d
diff --git a/external/rlbench/rlbench/gym/__init__.py b/external/rlbench/rlbench/gym/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..26ff7f4380ee2e384e8c11b3dc8ee6c38147c055
--- /dev/null
+++ b/external/rlbench/rlbench/gym/__init__.py
@@ -0,0 +1,28 @@
+from gym.envs.registration import register
+import rlbench.backend.task as task
+import os
+from rlbench.utils import name_to_task_class
+from rlbench.gym.rlbench_env import RLBenchEnv
+
+TASKS = [t for t in os.listdir(task.TASKS_PATH)
+         if t != '__init__.py' and t.endswith('.py')]
+
+for task_file in TASKS:
+    task_name = task_file.split('.py')[0]
+    task_class = name_to_task_class(task_name)
+    register(
+        id='%s-state-v0' % task_name,
+        entry_point='rlbench.gym:RLBenchEnv',
+        kwargs={
+            'task_class': task_class,
+            'observation_mode': 'state'
+        }
+    )
+    register(
+        id='%s-vision-v0' % task_name,
+        entry_point='rlbench.gym:RLBenchEnv',
+        kwargs={
+            'task_class': task_class,
+            'observation_mode': 'vision'
+        }
+    )
diff --git a/external/rlbench/rlbench/gym/rlbench_env.py b/external/rlbench/rlbench/gym/rlbench_env.py
new file mode 100644
index 0000000000000000000000000000000000000000..2dbaccd4504d607f80fc1fe5cdac720d39ba967b
--- /dev/null
+++ b/external/rlbench/rlbench/gym/rlbench_env.py
@@ -0,0 +1,115 @@
+from typing import Union, Dict, Tuple
+
+import gym
+import numpy as np
+from gym import spaces
+from pyrep.const import RenderMode
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.vision_sensor import VisionSensor
+
+from rlbench.action_modes.action_mode import MoveArmThenGripper
+from rlbench.action_modes.arm_action_modes import JointVelocity
+from rlbench.action_modes.gripper_action_modes import Discrete
+from rlbench.environment import Environment
+from rlbench.observation_config import ObservationConfig
+
+
+class RLBenchEnv(gym.Env):
+    """An gym wrapper for RLBench."""
+
+    metadata = {'render.modes': ['human', 'rgb_array']}
+
+    def __init__(self, task_class, observation_mode='state',
+                 render_mode: Union[None, str] = None):
+        self._observation_mode = observation_mode
+        self._render_mode = render_mode
+        obs_config = ObservationConfig()
+        if observation_mode == 'state':
+            obs_config.set_all_high_dim(False)
+            obs_config.set_all_low_dim(True)
+        elif observation_mode == 'vision':
+            obs_config.set_all(True)
+        else:
+            raise ValueError(
+                'Unrecognised observation_mode: %s.' % observation_mode)
+
+        action_mode = MoveArmThenGripper(JointVelocity(), Discrete())
+        self.env = Environment(
+            action_mode, obs_config=obs_config, headless=True)
+        self.env.launch()
+        self.task = self.env.get_task(task_class)
+
+        _, obs = self.task.reset()
+
+        self.action_space = spaces.Box(
+            low=-1.0, high=1.0, shape=self.env.action_shape)
+
+        if observation_mode == 'state':
+            self.observation_space = spaces.Box(
+                low=-np.inf, high=np.inf, shape=obs.get_low_dim_data().shape)
+        elif observation_mode == 'vision':
+            observation_space = {
+                "state": spaces.Box(
+                    low=-np.inf, high=np.inf,
+                    shape=obs.get_low_dim_data().shape),
+                    
+                }            
+            for camera_name, config in obs_config.camera_config:
+                observation_space[camera_name] = spaces.Box( low=0, high=1, shape=config.shape)
+
+            self.observation_space = spaces.Dict(observation_space)
+
+        if render_mode is not None:
+            # Add the camera to the scene
+            cam_placeholder = Dummy('cam_cinematic_placeholder')
+            self._gym_cam = VisionSensor.create([640, 360])
+            self._gym_cam.set_pose(cam_placeholder.get_pose())
+            if render_mode == 'human':
+                self._gym_cam.set_render_mode(RenderMode.OPENGL3_WINDOWED)
+            else:
+                self._gym_cam.set_render_mode(RenderMode.OPENGL3)
+
+    def _extract_obs(self, obs) -> Dict[str, np.ndarray]:
+        if self._observation_mode == 'state':
+            return obs.get_low_dim_data()
+        elif self._observation_mode == 'vision':
+            obs = {"state": obs.get_low_dim_data()}
+
+            ..todo:: {
+                "state": obs.get_low_dim_data(),
+                "left_shoulder_rgb": obs.left_shoulder_rgb,
+                "right_shoulder_rgb": obs.right_shoulder_rgb,
+                "wrist_rgb": obs.wrist_rgb,
+                "front_rgb": obs.front_rgb,
+            }
+
+            for camera_name, _ in  self.env._obs_config.camera_config:
+                obs.update(obs.camera_data.get(camera_name))
+            return obs
+
+
+    def render(self, mode='human') -> Union[None, np.ndarray]:
+        if mode != self._render_mode:
+            raise ValueError(
+                'The render mode must match the render mode selected in the '
+                'constructor. \nI.e. if you want "human" render mode, then '
+                'create the env by calling: '
+                'gym.make("reach_target-state-v0", render_mode="human").\n'
+                'You passed in mode %s, but expected %s.' % (
+                    mode, self._render_mode))
+        if mode == 'rgb_array':
+            frame = self._gym_cam.capture_rgb()
+            frame = np.clip((frame * 255.).astype(np.uint8), 0, 255)
+            return frame
+
+    def reset(self) -> Dict[str, np.ndarray]:
+        descriptions, obs = self.task.reset()
+        del descriptions  # Not used.
+        return self._extract_obs(obs)
+
+    def step(self, action) -> Tuple[Dict[str, np.ndarray], float, bool, dict]:
+        obs, reward, terminate = self.task.step(action)
+        return self._extract_obs(obs), reward, terminate, {}
+
+    def close(self) -> None:
+        self.env.shutdown()
diff --git a/external/rlbench/rlbench/noise_model.py b/external/rlbench/rlbench/noise_model.py
new file mode 100644
index 0000000000000000000000000000000000000000..dc9d806f00e5ef80a07f5885b03f0964c4c6bf01
--- /dev/null
+++ b/external/rlbench/rlbench/noise_model.py
@@ -0,0 +1,28 @@
+from typing import Tuple
+
+import numpy as np
+
+
+class NoiseModel(object):
+
+    def apply(self, val: np.ndarray) -> np.ndarray:
+        raise NotImplementedError()
+
+
+class Identity(NoiseModel):
+    def apply(self, val: np.ndarray):
+        return val
+
+
+class GaussianNoise(NoiseModel):
+
+    def __init__(self, variance, min_max_clip: Tuple[float, float]=None):
+        self._variance = variance
+        self._min_max_clip = min_max_clip
+
+    def apply(self, val: np.ndarray):
+        val += np.random.normal(0.0, scale=self._variance, size=val.shape)
+        if self._min_max_clip is not None:
+            val = np.clip(val, *self._min_max_clip)
+        return val
+
diff --git a/external/rlbench/rlbench/observation_config.py b/external/rlbench/rlbench/observation_config.py
new file mode 100644
index 0000000000000000000000000000000000000000..472188205c54efb360ea30b7484a7c2f8f33634b
--- /dev/null
+++ b/external/rlbench/rlbench/observation_config.py
@@ -0,0 +1,99 @@
+from typing import Dict
+from dataclasses import dataclass
+
+from pyrep.const import RenderMode
+from rlbench.noise_model import NoiseModel, Identity
+
+
+#@dataclass
+class CameraConfig(object):
+    def __init__(self,
+                 rgb=True,
+                 rgb_noise: NoiseModel=Identity(),
+                 depth=True,
+                 depth_noise: NoiseModel=Identity(),
+                 point_cloud=True,
+                 mask=True,
+                 image_size=(128, 128),
+                 render_mode=RenderMode.OPENGL3,
+                 masks_as_one_channel=True,
+                 depth_in_meters=False):
+        self.rgb = rgb
+        self.rgb_noise = rgb_noise
+        self.depth = depth
+        self.depth_noise = depth_noise
+        self.point_cloud = point_cloud
+        self.mask = mask
+        self.image_size = image_size
+        self.render_mode = render_mode
+        self.masks_as_one_channel = masks_as_one_channel
+        self.depth_in_meters = depth_in_meters
+
+    def set_all(self, value: bool):
+        self.rgb = value
+        self.depth = value
+        self.point_cloud = value
+        self.mask = value
+
+
+
+#@dataclass
+class ObservationConfig(object):
+
+    
+    def __init__(self,
+                 camera_configs: Dict[str, CameraConfig] = None,
+                 joint_velocities=True,
+                 joint_velocities_noise: NoiseModel=Identity(),
+                 joint_positions=True,
+                 joint_positions_noise: NoiseModel=Identity(),
+                 joint_forces=True,
+                 joint_forces_noise: NoiseModel=Identity(),
+                 gripper_open=True,
+                 gripper_pose=True,
+                 gripper_matrix=False,
+                 gripper_joint_positions=False,
+                 gripper_touch_forces=False,
+                 wrist_camera_matrix=False,
+                 record_gripper_closing=False,
+                 task_low_dim_state=True,
+                 record_ignore_collisions=True,
+                 robot_name=''
+                 ):
+        self.camera_configs = camera_configs or dict()
+        self.joint_velocities = joint_velocities
+        self.joint_velocities_noise = joint_velocities_noise
+        self.joint_positions = joint_positions
+        self.joint_positions_noise = joint_positions_noise
+        self.joint_forces = joint_forces
+        self.joint_forces_noise = joint_forces_noise
+        self.gripper_open = gripper_open
+        self.gripper_pose = gripper_pose
+        self.gripper_matrix = gripper_matrix
+        self.gripper_joint_positions = gripper_joint_positions
+        self.gripper_touch_forces = gripper_touch_forces
+        self.wrist_camera_matrix = wrist_camera_matrix
+        self.record_gripper_closing = record_gripper_closing
+        self.task_low_dim_state = task_low_dim_state
+        self.record_ignore_collisions = record_ignore_collisions
+        self.robot_name = robot_name
+
+    def set_all(self, value: bool):
+        self.set_all_high_dim(value)
+        self.set_all_low_dim(value)
+
+    def set_all_high_dim(self, value: bool):
+        for _, config in self.camera_configs:
+            config.set_all(value)
+
+    def set_all_low_dim(self, value: bool):
+        self.joint_velocities = value
+        self.joint_positions = value
+        self.joint_forces = value
+        self.gripper_open = value
+        self.gripper_pose = value
+        self.gripper_matrix = value
+        self.gripper_joint_positions = value
+        self.gripper_touch_forces = value
+        self.wrist_camera_matrix = value
+        self.task_low_dim_state = value
diff --git a/external/rlbench/rlbench/sim2real/__init__.py b/external/rlbench/rlbench/sim2real/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/external/rlbench/rlbench/sim2real/domain_randomization.py b/external/rlbench/rlbench/sim2real/domain_randomization.py
new file mode 100644
index 0000000000000000000000000000000000000000..a72cb83ef23bb82b191198563ec2ce0bab43b9d4
--- /dev/null
+++ b/external/rlbench/rlbench/sim2real/domain_randomization.py
@@ -0,0 +1,85 @@
+from enum import Enum
+from typing import List
+import numpy as np
+import os
+import glob
+
+
+class RandomizeEvery(Enum):
+    EPISODE = 0
+    VARIATION = 1
+    TRANSITION = 1
+
+
+class Distributions(object):
+
+    def apply(self, val: np.ndarray) -> np.ndarray:
+        pass
+
+
+class Gaussian(Distributions):
+
+    def __init__(self, variance):
+        self._variance = variance
+
+    def apply(self, val: np.ndarray):
+        return np.random.normal(val, self._variance)
+
+
+class Uniform(Distributions):
+
+    def __init__(self, min, max):
+        self._min = min
+        self._max = max
+
+    def apply(self, val: np.ndarray):
+        return np.random.uniform(self._min, self._max, val.shape)
+
+
+EXTENSIONS = ['*.jpg', '*.png']
+
+
+class RandomizationConfig(object):
+
+    def __init__(self,
+                 whitelist: List[str]=None,
+                 blacklist: List[str]=None,
+                 randomize_arm: bool = True):
+        self.whitelist = whitelist
+        self.blacklist = [] if blacklist is None else blacklist
+        self.randomize_arm = randomize_arm
+
+    def should_randomize(self, obj_name: str):
+        return ((self.whitelist is None and len(self.blacklist) == 0) or
+                (self.whitelist is not None and obj_name in self.whitelist) or
+                (obj_name not in self.blacklist)) and (
+                self.randomize_arm or 'panda' not in obj_name.lower())
+
+
+class DynamicsRandomizationConfig(RandomizationConfig):
+    pass
+
+
+class VisualRandomizationConfig(RandomizationConfig):
+
+    def __init__(self,
+                 image_directory: str,
+                 whitelist: List[str] = None,
+                 blacklist: List[str] = None,
+                 randomize_arm: bool = True):
+        super().__init__(whitelist, blacklist, randomize_arm)
+        self._image_directory = image_directory
+        if not os.path.exists(image_directory):
+            raise NotADirectoryError(
+                'The supplied image directory (%s) does not exist!' %
+                image_directory)
+        self._imgs = [glob.glob(
+            os.path.join(image_directory, e)) for e in EXTENSIONS]
+        self._imgs = np.concatenate(self._imgs)
+        if len(self._imgs) == 0:
+            raise RuntimeError(
+                'The supplied image directory (%s) does not have any images!' %
+                image_directory)
+
+    def sample(self, samples: int) -> np.ndarray:
+        return np.random.choice(self._imgs, samples)
diff --git a/external/rlbench/rlbench/sim2real/domain_randomization_scene.py b/external/rlbench/rlbench/sim2real/domain_randomization_scene.py
new file mode 100644
index 0000000000000000000000000000000000000000..9ea7cee39963c0aaa9c57e7b2e54e9958315e68c
--- /dev/null
+++ b/external/rlbench/rlbench/sim2real/domain_randomization_scene.py
@@ -0,0 +1,101 @@
+from typing import List
+from pyrep import PyRep
+from pyrep.const import ObjectType, TextureMappingMode
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.scene import Scene
+from rlbench.observation_config import ObservationConfig
+from rlbench.backend.robot import Robot
+from rlbench.sim2real.domain_randomization import RandomizeEvery
+
+SCENE_OBJECTS = ['Floor', 'Roof', 'Wall1', 'Wall2', 'Wall3', 'Wall4',
+                 'diningTable_visible']
+
+TEX_KWARGS = {
+    'mapping_mode': TextureMappingMode.PLANE,
+    'repeat_along_u': True,
+    'repeat_along_v': True,
+    'uv_scaling': [4., 4.]
+}
+
+
+class DomainRandomizationScene(Scene):
+
+    def __init__(self,
+                 pyrep: PyRep,
+                 robot: Robot,
+                 obs_config: ObservationConfig = ObservationConfig(),
+                 robot_setup: str = 'Panda',
+                 randomize_every: RandomizeEvery=RandomizeEvery.EPISODE,
+                 frequency: int=1,
+                 visual_randomization_config=None,
+                 dynamics_randomization_config=None):
+        super().__init__(pyrep, robot, obs_config, robot_setup)
+        self._randomize_every = randomize_every
+        self._frequency = frequency
+        self._visual_rand_config = visual_randomization_config
+        self._dynamics_rand_config = dynamics_randomization_config
+        self._previous_index = -1
+        self._count = 0
+
+        if self._dynamics_rand_config is not None:
+            raise NotImplementedError(
+                'Dynamics randomization coming soon! '
+                'Only visual randomization available.')
+
+        self._scene_objects = [Shape(name) for name in SCENE_OBJECTS]
+        self._scene_objects += self.robot.arm.get_visuals()
+        self._scene_objects += self.robot.gripper.get_visuals()
+        if self._visual_rand_config is not None:
+            # Make the floor plane renderable (to cover old floor)
+            self._scene_objects[0].set_position([0, 0, 0.01])
+            self._scene_objects[0].set_renderable(True)
+
+    def _should_randomize_episode(self, index: int):
+        rand = self._count % self._frequency == 0 or self._count == 0
+        if self._randomize_every == RandomizeEvery.VARIATION:
+            if self._previous_index != index:
+                self._previous_index = index
+                self._count += 1
+        elif self._randomize_every == RandomizeEvery.EPISODE:
+            self._count += 1
+        return rand
+
+    def _randomize(self):
+        tree = self.task.get_base().get_objects_in_tree(
+            ObjectType.SHAPE)
+        tree = [Shape(obj.get_handle()) for obj in tree + self._scene_objects]
+        if self._visual_rand_config is not None:
+            files = self._visual_rand_config.sample(len(tree))
+            for file, obj in zip(files, tree):
+                if self._visual_rand_config.should_randomize(obj.get_name()):
+                    text_ob, texture = self.pyrep.create_texture(file)
+                    try:
+                        obj.set_texture(texture, **TEX_KWARGS)
+                    except RuntimeError:
+                        ungrouped = obj.ungroup()
+                        for o in ungrouped:
+                            o.set_texture(texture, **TEX_KWARGS)
+                        self.pyrep.group_objects(ungrouped)
+                    text_ob.remove()
+
+    def init_task(self) -> None:
+        super().init_task()
+
+    def init_episode(self, index: int, *args, **kwargs) -> List[str]:
+        ret = super().init_episode(index, *args, **kwargs)
+        if (self._randomize_every != RandomizeEvery.TRANSITION and
+                self._should_randomize_episode(index)):
+            self._randomize()
+            self.pyrep.step()  # Need to step to apply textures
+        return ret
+
+    def step(self):
+        if self._randomize_every == RandomizeEvery.TRANSITION:
+            if self._count % self._frequency == 0 or self._count == 0 :
+                self._randomize()
+            self._count += 1
+        super().step()
+
+    def reset(self) -> None:
+        return super().reset()
diff --git a/external/rlbench/rlbench/task_environment.py b/external/rlbench/rlbench/task_environment.py
new file mode 100644
index 0000000000000000000000000000000000000000..908df229128de17ec00aa8b4e0735257e0ba5da1
--- /dev/null
+++ b/external/rlbench/rlbench/task_environment.py
@@ -0,0 +1,191 @@
+import logging
+from typing import List, Callable
+
+import numpy as np
+from pyrep import PyRep
+from pyrep.const import ObjectType
+from rlbench import utils
+from rlbench.action_modes.action_mode import ActionMode
+from rlbench.backend.exceptions import BoundaryError, WaypointError, \
+    TaskEnvironmentError
+from rlbench.backend.observation import Observation
+from rlbench.backend.robot import Robot, UnimanualRobot, BimanualRobot
+from rlbench.backend.scene import Scene
+from rlbench.backend.task import Task
+from rlbench.demo import Demo
+from rlbench.observation_config import ObservationConfig
+
+_DT = 0.05
+_MAX_RESET_ATTEMPTS = 40
+_MAX_DEMO_ATTEMPTS = 10
+
+
+class TaskEnvironment(object):
+
+    def __init__(self,
+                 pyrep: PyRep,
+                 robot: Robot,
+                 scene: Scene,
+                 task: Task,
+                 action_mode: ActionMode,
+                 dataset_root: str,
+                 obs_config: ObservationConfig,
+                 static_positions: bool = False,
+                 attach_grasped_objects: bool = True,
+                 shaped_rewards: bool = False
+                 ):
+        self._pyrep = pyrep
+        self._robot = robot
+        self._scene = scene
+        self._task = task
+        self._variation_number = 0
+        self._action_mode = action_mode
+        self._dataset_root = dataset_root
+        self._obs_config = obs_config
+        self._static_positions = static_positions
+        self._attach_grasped_objects = attach_grasped_objects
+        self._shaped_rewards = shaped_rewards
+        self._reset_called = False
+        self._prev_ee_velocity = None
+        self._enable_path_observations = False
+
+        self._scene.load(self._task)
+        self._pyrep.start()
+
+        if self._robot.is_bimanual:
+             #..fixme
+            logging.warning("not sure how _robot_shapes are used is used.")
+            self._robot_shapes = self._robot.right_arm.get_objects_in_tree(object_type=ObjectType.SHAPE) + self._robot.left_arm.get_objects_in_tree(object_type=ObjectType.SHAPE)
+        else:
+            self._robot_shapes = self._robot.arm.get_objects_in_tree(object_type=ObjectType.SHAPE)
+        
+  
+    def get_name(self) -> str:
+        return self._task.get_name()
+
+    def sample_variation(self) -> int:
+        self._variation_number = np.random.randint(
+            0, self._task.variation_count())
+        return self._variation_number
+
+    def set_variation(self, v: int) -> None:
+        if v >= self.variation_count():
+            raise TaskEnvironmentError(
+                'Requested variation %d, but there are only %d variations.' % (
+                    v, self.variation_count()))
+        self._variation_number = v
+
+    def variation_count(self) -> int:
+        return self._task.variation_count()
+
+    def reset(self) -> (List[str], Observation):
+        self._scene.reset()
+        try:
+            desc = self._scene.init_episode(
+                self._variation_number, max_attempts=_MAX_RESET_ATTEMPTS,
+                randomly_place=not self._static_positions)
+        except (BoundaryError, WaypointError) as e:
+            logging.error("error while initializing episode: %s", e)
+            raise TaskEnvironmentError(
+                'Could not place the task %s in the scene. This should not '
+                'happen, please raise an issues on this task.'
+                % self._task.get_name()) from e
+
+        self._reset_called = True
+        # Returns a list of descriptions and the first observation
+        return desc, self._scene.get_observation()
+
+    def get_task_descriptions(self) -> List[str]:
+        return self._scene.task.init_episode(self._variation_number)
+
+    def get_observation(self) -> Observation:
+        return self._scene.get_observation()
+
+    def step(self, action) -> (Observation, int, bool):
+        # returns observation, reward, done, info
+        if not self._reset_called:
+            raise RuntimeError(
+                "Call 'reset' before calling 'step' on a task.")
+        self._action_mode.action(self._scene, action)
+        success, terminate = self._task.success()
+        reward = float(success)
+        if self._shaped_rewards:
+            reward = self._task.reward()
+            if reward is None:
+                raise RuntimeError(
+                    'User requested shaped rewards, but task %s does not have '
+                    'a defined reward() function.' % self._task.get_name())
+        return self._scene.get_observation(), reward, terminate
+
+    def get_demos(self, amount: int, live_demos: bool = False,
+                  image_paths: bool = False,
+                  callable_each_step: Callable[[Observation], None] = None,
+                  max_attempts: int = _MAX_DEMO_ATTEMPTS,
+                  random_selection: bool = True,
+                  from_episode_number: int = 0
+                  ) -> List[Demo]:
+        """Negative means all demos"""
+
+        if not live_demos and (self._dataset_root is None
+                               or len(self._dataset_root) == 0):
+            raise RuntimeError(
+                "Can't ask for a stored demo when no dataset root provided.")
+
+
+        if not live_demos:
+            if self._dataset_root is None or len(self._dataset_root) == 0:
+                raise RuntimeError(
+                    "Can't ask for stored demo when no dataset root provided.")
+            demos = utils.get_stored_demos(
+                amount, image_paths, self._dataset_root, self._variation_number,
+                self._task.get_name(), self._obs_config,
+                random_selection, from_episode_number)
+        elif not self._robot.is_bimanual:
+            ctr_loop = self._robot.arm.joints[0].is_control_loop_enabled()
+            self._robot.arm.set_control_loop_enabled(True)
+            demos = self._get_live_demos(
+                amount, callable_each_step, max_attempts)
+            self._robot.arm.set_control_loop_enabled(ctr_loop)
+        elif self._robot.is_bimanual:
+            ctr_loop_right = self._robot.right_arm.joints[0].is_control_loop_enabled()
+            ctr_loop_left = self._robot.left_arm.joints[0].is_control_loop_enabled()
+            self._robot.right_arm.set_control_loop_enabled(True)
+            self._robot.left_arm.set_control_loop_enabled(True)
+            demos = self._get_live_demos(
+                amount, callable_each_step, max_attempts)
+            self._robot.right_arm.set_control_loop_enabled(ctr_loop_right)
+            self._robot.left_arm.set_control_loop_enabled(ctr_loop_left)
+
+        return demos
+
+    def _get_live_demos(self, amount: int,
+                        callable_each_step: Callable[
+                            [Observation], None] = None,
+                        max_attempts: int = _MAX_DEMO_ATTEMPTS) -> List[Demo]:
+        demos = []
+        for i in range(amount):
+            attempts = max_attempts
+            while attempts > 0:
+                random_seed = np.random.get_state()
+                self.reset()
+                try:
+                    demo = self._scene.get_demo(
+                        callable_each_step=callable_each_step)
+                    demo.random_seed = random_seed
+                    demos.append(demo)
+                    break
+                except Exception as e:
+                    attempts -= 1
+                    logging.warning('Bad demo. ' + str(e) + ' Attempts left: ' + str(attempts))
+            if attempts <= 0:
+                raise RuntimeError(
+                    'Could not collect demos. Maybe a problem with the task?')
+        return demos
+
+    def reset_to_demo(self, demo: Demo) -> (List[str], Observation):
+        demo.restore_state()
+        # do not set variation as suggested in commit 6e79c5bac. This version
+        # of RLBench already stores the variation index
+        #variation_index = demo._observations[0].misc["variation_index"]
+        #self.set_variation(variation_index)
+        return self.reset()
diff --git a/external/rlbench/rlbench/task_ttms/bimanual_dual_push_buttons.ttm b/external/rlbench/rlbench/task_ttms/bimanual_dual_push_buttons.ttm
new file mode 100644
index 0000000000000000000000000000000000000000..347eb2503223052145c2f2a5aa4063d5ad55e8e8
Binary files /dev/null and b/external/rlbench/rlbench/task_ttms/bimanual_dual_push_buttons.ttm differ
diff --git a/external/rlbench/rlbench/task_ttms/bimanual_handover_item.ttm b/external/rlbench/rlbench/task_ttms/bimanual_handover_item.ttm
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diff --git a/external/rlbench/rlbench/tasks/__init__.py b/external/rlbench/rlbench/tasks/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..8be7d66dcd423a61a25bd36872b80e9636fe7c60
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/__init__.py
@@ -0,0 +1,276 @@
+from rlbench.tasks.basketball_in_hoop import BasketballInHoop
+from rlbench.tasks.beat_the_buzz import BeatTheBuzz
+from rlbench.tasks.block_pyramid import BlockPyramid
+from rlbench.tasks.change_channel import ChangeChannel
+from rlbench.tasks.change_clock import ChangeClock
+from rlbench.tasks.close_box import CloseBox
+from rlbench.tasks.close_door import CloseDoor
+from rlbench.tasks.close_drawer import CloseDrawer
+from rlbench.tasks.close_fridge import CloseFridge
+from rlbench.tasks.close_grill import CloseGrill
+from rlbench.tasks.close_jar import CloseJar
+from rlbench.tasks.close_laptop_lid import CloseLaptopLid
+from rlbench.tasks.close_microwave import CloseMicrowave
+from rlbench.tasks.empty_container import EmptyContainer
+from rlbench.tasks.empty_dishwasher import EmptyDishwasher
+from rlbench.tasks.get_ice_from_fridge import GetIceFromFridge
+from rlbench.tasks.hang_frame_on_hanger import HangFrameOnHanger
+from rlbench.tasks.hit_ball_with_queue import HitBallWithQueue
+from rlbench.tasks.hockey import Hockey
+from rlbench.tasks.insert_onto_square_peg import InsertOntoSquarePeg
+from rlbench.tasks.insert_usb_in_computer import InsertUsbInComputer
+from rlbench.tasks.lamp_off import LampOff
+from rlbench.tasks.lamp_on import LampOn
+from rlbench.tasks.lift_numbered_block import LiftNumberedBlock
+from rlbench.tasks.light_bulb_in import LightBulbIn
+from rlbench.tasks.light_bulb_out import LightBulbOut
+from rlbench.tasks.meat_off_grill import MeatOffGrill
+from rlbench.tasks.meat_on_grill import MeatOnGrill
+from rlbench.tasks.move_hanger import MoveHanger
+from rlbench.tasks.open_box import OpenBox
+from rlbench.tasks.open_door import OpenDoor
+from rlbench.tasks.open_drawer import OpenDrawer
+from rlbench.tasks.open_fridge import OpenFridge
+from rlbench.tasks.open_grill import OpenGrill
+from rlbench.tasks.open_jar import OpenJar
+from rlbench.tasks.open_microwave import OpenMicrowave
+from rlbench.tasks.open_oven import OpenOven
+from rlbench.tasks.open_washing_machine import OpenWashingMachine
+from rlbench.tasks.open_window import OpenWindow
+from rlbench.tasks.open_wine_bottle import OpenWineBottle
+from rlbench.tasks.phone_on_base import PhoneOnBase
+from rlbench.tasks.pick_and_lift import PickAndLift
+from rlbench.tasks.pick_and_lift_small import PickAndLiftSmall
+from rlbench.tasks.pick_up_cup import PickUpCup
+from rlbench.tasks.place_cups import PlaceCups
+from rlbench.tasks.place_hanger_on_rack import PlaceHangerOnRack
+from rlbench.tasks.place_shape_in_shape_sorter import PlaceShapeInShapeSorter
+from rlbench.tasks.play_jenga import PlayJenga
+from rlbench.tasks.plug_charger_in_power_supply import PlugChargerInPowerSupply
+from rlbench.tasks.pour_from_cup_to_cup import PourFromCupToCup
+from rlbench.tasks.press_switch import PressSwitch
+from rlbench.tasks.push_button import PushButton
+from rlbench.tasks.push_buttons import PushButtons
+from rlbench.tasks.put_all_groceries_in_cupboard import \
+    PutAllGroceriesInCupboard
+from rlbench.tasks.put_books_on_bookshelf import PutBooksOnBookshelf
+from rlbench.tasks.put_bottle_in_fridge import PutBottleInFridge
+from rlbench.tasks.put_groceries_in_cupboard import PutGroceriesInCupboard
+from rlbench.tasks.put_item_in_drawer import PutItemInDrawer
+from rlbench.tasks.put_knife_in_knife_block import PutKnifeInKnifeBlock
+from rlbench.tasks.put_knife_on_chopping_board import PutKnifeOnChoppingBoard
+from rlbench.tasks.put_money_in_safe import PutMoneyInSafe
+from rlbench.tasks.put_plate_in_colored_dish_rack import \
+    PutPlateInColoredDishRack
+from rlbench.tasks.put_rubbish_in_bin import PutRubbishInBin
+from rlbench.tasks.put_shoes_in_box import PutShoesInBox
+from rlbench.tasks.put_toilet_roll_on_stand import PutToiletRollOnStand
+from rlbench.tasks.put_tray_in_oven import PutTrayInOven
+from rlbench.tasks.put_umbrella_in_umbrella_stand import \
+    PutUmbrellaInUmbrellaStand
+from rlbench.tasks.reach_and_drag import ReachAndDrag
+from rlbench.tasks.reach_target import ReachTarget
+from rlbench.tasks.remove_cups import RemoveCups
+from rlbench.tasks.scoop_with_spatula import ScoopWithSpatula
+from rlbench.tasks.screw_nail import ScrewNail
+from rlbench.tasks.set_the_table import SetTheTable
+from rlbench.tasks.setup_checkers import SetupCheckers
+from rlbench.tasks.setup_chess import SetupChess
+from rlbench.tasks.slide_block_to_target import SlideBlockToTarget
+from rlbench.tasks.slide_cabinet_open import SlideCabinetOpen
+from rlbench.tasks.slide_cabinet_open_and_place_cups import \
+    SlideCabinetOpenAndPlaceCups
+from rlbench.tasks.solve_puzzle import SolvePuzzle
+from rlbench.tasks.stack_blocks import StackBlocks
+from rlbench.tasks.stack_chairs import StackChairs
+from rlbench.tasks.stack_cups import StackCups
+from rlbench.tasks.stack_wine import StackWine
+from rlbench.tasks.straighten_rope import StraightenRope
+from rlbench.tasks.sweep_to_dustpan import SweepToDustpan
+from rlbench.tasks.take_cup_out_from_cabinet import TakeCupOutFromCabinet
+from rlbench.tasks.take_frame_off_hanger import TakeFrameOffHanger
+from rlbench.tasks.take_item_out_of_drawer import TakeItemOutOfDrawer
+from rlbench.tasks.take_lid_off_saucepan import TakeLidOffSaucepan
+from rlbench.tasks.take_money_out_safe import TakeMoneyOutSafe
+from rlbench.tasks.take_off_weighing_scales import TakeOffWeighingScales
+from rlbench.tasks.take_plate_off_colored_dish_rack import \
+    TakePlateOffColoredDishRack
+from rlbench.tasks.take_shoes_out_of_box import TakeShoesOutOfBox
+from rlbench.tasks.take_toilet_roll_off_stand import TakeToiletRollOffStand
+from rlbench.tasks.take_tray_out_of_oven import TakeTrayOutOfOven
+from rlbench.tasks.take_umbrella_out_of_umbrella_stand import \
+    TakeUmbrellaOutOfUmbrellaStand
+from rlbench.tasks.take_usb_out_of_computer import TakeUsbOutOfComputer
+from rlbench.tasks.toilet_seat_down import ToiletSeatDown
+from rlbench.tasks.toilet_seat_up import ToiletSeatUp
+from rlbench.tasks.turn_oven_on import TurnOvenOn
+from rlbench.tasks.turn_tap import TurnTap
+from rlbench.tasks.tv_on import TvOn
+from rlbench.tasks.unplug_charger import UnplugCharger
+from rlbench.tasks.water_plants import WaterPlants
+from rlbench.tasks.weighing_scales import WeighingScales
+from rlbench.tasks.wipe_desk import WipeDesk
+
+# new tasks added in the PerAct paper
+from rlbench.tasks.put_rubbish_in_color_bin import PutRubbishInColorBin
+from rlbench.tasks.place_wine_at_rack_location import PlaceWineAtRackLocation
+from rlbench.tasks.slide_block_to_color_target import SlideBlockToColorTarget
+from rlbench.tasks.sweep_to_dustpan_of_size import SweepToDustpanOfSize
+from rlbench.tasks.put_books_at_shelf_location import PutBooksAtShelfLocation
+from rlbench.tasks.set_clock_to_time import SetClockToTime
+
+# analysis tasks
+from rlbench.tasks.open_drawer_test_color_frame import OpenDrawerTestColorFrame
+from rlbench.tasks.open_drawer_test_color_full import OpenDrawerTestColorFull
+from rlbench.tasks.open_drawer_test_texture_frame import OpenDrawerTestTextureFrame
+from rlbench.tasks.open_drawer_test_texture_full import OpenDrawerTestTextureFull
+
+from rlbench.tasks.open_drawer_test_shape_small_body import OpenDrawerTestShapeSmallBody
+from rlbench.tasks.open_drawer_test_shape_square_handles import OpenDrawerTestShapeSquareHandles
+from rlbench.tasks.open_drawer_test_shape_large_handles import OpenDrawerTestShapeLargeHandles
+
+
+FS10_V1 = {
+    'train': [
+        ReachTarget,
+        CloseBox,
+        CloseMicrowave,
+        PlugChargerInPowerSupply,
+        ToiletSeatDown,
+        TakeUmbrellaOutOfUmbrellaStand,
+        PutUmbrellaInUmbrellaStand,
+        SlideCabinetOpen,
+        CloseFridge,
+        PickAndLift
+    ],
+    'test': [
+        OpenBox,
+        OpenMicrowave,
+        UnplugCharger,
+        ToiletSeatUp,
+        OpenFridge,
+    ]
+}
+
+FS25_V1 = {
+    'train': FS10_V1['train'] + FS10_V1['test'] + [
+        TurnTap,
+        LightBulbIn,
+        BasketballInHoop,
+        OpenWindow,
+        CloseDoor,
+        PushButton,
+        PutItemInDrawer,
+        OpenDrawer,
+        CloseDrawer,
+        TurnOvenOn
+    ],
+    'test': [
+        LightBulbOut,
+        TvOn,
+        OpenOven,
+        OpenDoor,
+        TakeItemOutOfDrawer
+    ]
+}
+
+FS50_V1 = {
+    'train': FS25_V1['train'] + FS25_V1['test'] + [
+        BeatTheBuzz,
+        BlockPyramid,
+        ChangeClock,
+        CloseJar,
+        CloseLaptopLid,
+        EmptyContainer,
+        EmptyDishwasher,
+        GetIceFromFridge,
+        HangFrameOnHanger,
+        InsertOntoSquarePeg,
+        PutRubbishInBin,
+        PutShoesInBox,
+        PutToiletRollOnStand,
+        PutTrayInOven,
+        ReachAndDrag,
+        RemoveCups,
+        ScoopWithSpatula,
+        SetTheTable,
+        SetupCheckers,
+        SlideBlockToTarget
+    ],
+    'test': [
+        Hockey,
+        InsertUsbInComputer,
+        PressSwitch,
+        PlayJenga,
+        MeatOffGrill,
+    ]
+}
+
+FS95_V1 = {
+    'train': FS50_V1['train'] + FS50_V1['test'] + [
+        HitBallWithQueue,
+        ScrewNail,
+        LampOff,
+        LampOn,
+        MeatOnGrill,
+        MoveHanger,
+        OpenJar,
+        OpenWineBottle,
+        PlaceCups,
+        PlaceHangerOnRack,
+        PlaceShapeInShapeSorter,
+        PutBottleInFridge,
+        PutKnifeInKnifeBlock,
+        PutMoneyInSafe,
+        PutPlateInColoredDishRack,
+        SlideCabinetOpenAndPlaceCups,
+        StackBlocks,
+        StackCups,
+        StackWine,
+        StraightenRope,
+        SweepToDustpan,
+        TakeCupOutFromCabinet,
+        TakeFrameOffHanger,
+        TakeLidOffSaucepan,
+        TakeMoneyOutSafe,
+        TakeOffWeighingScales,
+        TakePlateOffColoredDishRack,
+        TakeShoesOutOfBox,
+        TakeToiletRollOffStand,
+        TakeUsbOutOfComputer,
+        WaterPlants,
+        WeighingScales,
+        WipeDesk,
+        ChangeChannel,
+        OpenGrill,
+        CloseGrill,
+        SolvePuzzle,
+        PickUpCup,
+        PhoneOnBase,
+        PourFromCupToCup
+    ],
+    'test': [
+        PutKnifeOnChoppingBoard,
+        PutBooksOnBookshelf,
+        PushButtons,
+        PutGroceriesInCupboard,
+        TakeTrayOutOfOven,
+    ]
+}
+
+MT15_V1 = {
+    'train': FS10_V1['train'] + FS10_V1['test']
+}
+
+
+MT30_V1 = {
+    'train': FS25_V1['train'] + FS25_V1['test']
+}
+
+MT55_V1 = {
+    'train': FS50_V1['train'] + FS50_V1['test']
+}
+
+MT100_V1 = {
+    'train': FS95_V1['train'] + FS95_V1['test']
+}
diff --git a/external/rlbench/rlbench/tasks/basketball_in_hoop.py b/external/rlbench/rlbench/tasks/basketball_in_hoop.py
new file mode 100644
index 0000000000000000000000000000000000000000..3bb8b11130c1899e6591be7321cf5c5dbaf35fad
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/basketball_in_hoop.py
@@ -0,0 +1,34 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+
+
+class BasketballInHoop(Task):
+
+    def init_task(self):
+        ball = Shape('ball')
+        self.register_graspable_objects([ball])
+        self.register_success_conditions(
+            [DetectedCondition(ball, ProximitySensor('success'))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['put the ball in the hoop',
+                'play basketball',
+                'shoot the ball through the net',
+                'pick up the basketball and put it in the hoop',
+                'throw the basketball through the hoop',
+                'place the basket ball through the hoop']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4], [0, 0, np.pi / 4]
+
+    def boundary_root(self) -> Object:
+        return Shape('basket_boundary_root')
diff --git a/external/rlbench/rlbench/tasks/beat_the_buzz.py b/external/rlbench/rlbench/tasks/beat_the_buzz.py
new file mode 100644
index 0000000000000000000000000000000000000000..7a3b63831d2a82a36954ce77c96b8a84bd49cb3b
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/beat_the_buzz.py
@@ -0,0 +1,36 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class BeatTheBuzz(Task):
+
+    def init_task(self) -> None:
+        middle_sensor = ProximitySensor('middle_sensor')
+        right_sensor = ProximitySensor('right_sensor')
+        wand = Shape('wand')
+        self.register_graspable_objects([wand])
+        self.register_fail_conditions(
+            [DetectedCondition(wand, middle_sensor)])
+        self.register_success_conditions(
+            [DetectedCondition(wand, right_sensor),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['beat the buzz',
+                'slide the ring along the pole without allowing them to touch',
+                'slide the ring along the metal pole, avoiding contact between '
+                'them',
+                'slide the ring from one end of the pole to the other without '
+                'allowing them to touch',
+                'slide the ring from one end of the pole to the other, '
+                'avoiding contact between them',
+                'move the ring from one end of the pole to the other, '
+                'maintaining a gap between them',
+                'move the ring from end of the pole to the other whilst '
+                'maintaining separation between them']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/block_pyramid.py b/external/rlbench/rlbench/tasks/block_pyramid.py
new file mode 100644
index 0000000000000000000000000000000000000000..f5146f4f88bdfaba3ed2c70be1736f7fa8514f4a
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/block_pyramid.py
@@ -0,0 +1,61 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import (DetectedSeveralCondition,
+                                        NothingGrasped, ConditionSet)
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+
+class BlockPyramid(Task):
+
+    def init_task(self) -> None:
+        self.blocks = [Shape('block_pyramid_block%d' % i) for i in range(6)]
+        self.distractors = [Shape(
+            'block_pyramid_distractor_block%d' % i) for i in range(6)]
+        success_detectors = [ProximitySensor(
+            'block_pyramid_success_block%d' % i) for i in range(3)]
+
+        cond_set = ConditionSet([
+            DetectedSeveralCondition(self.blocks, success_detectors[0], 3),
+            DetectedSeveralCondition(self.blocks, success_detectors[1], 2),
+            DetectedSeveralCondition(self.blocks, success_detectors[2], 1),
+            NothingGrasped(self.robot.gripper)
+        ])
+        self.register_success_conditions([cond_set])
+        self.register_graspable_objects(self.blocks + self.distractors)
+        self.spawn_boundary = SpawnBoundary(
+            [Shape('block_pyramid_boundary%d' % i) for i in range(4)])
+
+    def init_episode(self, index: int) -> List[str]:
+
+        color_name, color_rgb = colors[index]
+        for obj in self.blocks:
+            obj.set_color(color_rgb)
+
+        color_choice = np.random.choice(
+            list(range(index)) + list(range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        name, rgb = colors[color_choice]
+        for obj in self.distractors:
+            obj.set_color(rgb)
+        self.spawn_boundary.clear()
+        for ob in self.blocks + self.distractors:
+            self.spawn_boundary.sample(
+                ob, min_distance=0.08, min_rotation=(0.0, 0.0, -np.pi / 4),
+                max_rotation=(0.0, 0.0, np.pi / 4))
+
+        return ['stack %s blocks in a pyramid' % color_name,
+                'create a pyramid with the %s objects' % color_name,
+                'make a pyramid out of %s cubes' % color_name,
+                'position the %s blocks in the shape of a pyramid' % color_name,
+                'use the %s blocks to build a pyramid' % color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/change_channel.py b/external/rlbench/rlbench/tasks/change_channel.py
new file mode 100644
index 0000000000000000000000000000000000000000..73d0f7b54358e060f29ef3fffdd607d88279f26c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/change_channel.py
@@ -0,0 +1,62 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+
+
+class ChangeChannel(Task):
+
+    def init_task(self) -> None:
+        self._remote = Shape('tv_remote')
+        self.register_graspable_objects([self._remote])
+        self._joint_conditions = [
+            JointCondition(Joint('target_button_joint1'), 0.0015),
+            JointCondition(Joint('target_button_joint2'), 0.0015)
+        ]
+        self._remote_conditions = [
+            DetectedCondition(Dummy('tv_remote_top'),
+                              ProximitySensor('success0')),
+            DetectedCondition(Dummy('tv_remote_bottom'),
+                              ProximitySensor('success1'))
+        ]
+        self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')])
+        self._target_buttons = [
+            Shape('target_button_wrap1'),
+            Shape('target_button_wrap2')]
+        self._w6 = Dummy('waypoint6')
+        self._w6z = self._w6.get_position()[2]
+
+    def init_episode(self, index: int) -> List[str]:
+        self.register_success_conditions(
+            [self._joint_conditions[index]] + self._remote_conditions)
+        x, y, _ = self._target_buttons[index % 2].get_position()
+        self._w6.set_position([x, y, self._w6z])
+        self._spawn_boundary.clear()
+        self._spawn_boundary.sample(self._remote)
+
+        btn = ['plus', 'minus']
+        chnl = ['up', 'minus']
+        return [
+            'turn the channel %s' % chnl[index],
+            'change the television channel %s' % chnl[index],
+            'point the remote at the tv and press the %s button to turn '
+            'the channel %s' % (btn[index], chnl[index]),
+            'using the tv remote, ensure it is facing the television and '
+            'press the %s button to increment the channel %s by one'
+            % (btn[index], chnl[index]),
+            'find the %s button on the remote, rotate the remote such that'
+            ' it is pointed at the tv, then press the button to change '
+            'the channel %s' % (chnl[index], btn[index])]
+
+    def variation_count(self) -> int:
+        return 2
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 2), (0.0, 0.0, np.pi / 2)
diff --git a/external/rlbench/rlbench/tasks/change_clock.py b/external/rlbench/rlbench/tasks/change_clock.py
new file mode 100644
index 0000000000000000000000000000000000000000..fc9ba87d248d0a02ee90d720f06dad65169f44a0
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/change_clock.py
@@ -0,0 +1,29 @@
+from typing import List
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import Task
+
+
+class ChangeClock(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            DetectedCondition(Shape('clock_needle_minute'),
+                              ProximitySensor('detector_minute0'))
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return [
+            'change the clock to show time 12.15',
+            'adjust the time to 12.15',
+            'change the clock to 12.15',
+            'set the clock to 12.15',
+            'turn the knob on the back of the clock until the time shows 12.15',
+            'rotate the wheel on the clock to make it show 12.15',
+            'make the clock say 12.15',
+            'turn the knob on the back of the clock 90 degrees'
+        ]
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/close_box.py b/external/rlbench/rlbench/tasks/close_box.py
new file mode 100644
index 0000000000000000000000000000000000000000..2eefa0e4d68813350d0a9d15e1ea0867ced3cdcb
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_box.py
@@ -0,0 +1,24 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseBox(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            JointCondition(Joint('box_joint'), 2.6)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['close box',
+                'close the lid on the box',
+                'shut the box',
+                'shut the box lid']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/close_door.py b/external/rlbench/rlbench/tasks/close_door.py
new file mode 100644
index 0000000000000000000000000000000000000000..f373bfaf9e5227c173e48751dc3b056bc362c6ce
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_door.py
@@ -0,0 +1,30 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseDoor(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            JointCondition(Joint('door_frame_joint'), np.deg2rad(25))
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['close the door',
+                'shut the door',
+                'grip the handle and pull the door shut',
+                'use the handle to move the door closed']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4.], [0, 0, np.pi / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/close_drawer.py b/external/rlbench/rlbench/tasks/close_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..2a43526f8fff8bfc9cd8fc65c1ee3e1cdffe26da
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_drawer.py
@@ -0,0 +1,36 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseDrawer(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint0 = Dummy('waypoint0')
+
+    def init_episode(self, index: int) -> List[str]:
+        option =  self._options[index]
+        self._joints[index].set_joint_position(0.1)
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.06)])
+        x, y, z = self._waypoint0.get_position()
+        _, _, target_z = self._anchors[index].get_position()
+        self._waypoint0.set_position([x, y, target_z])
+
+        return ['close %s drawer' % (option,),
+                'shut the %s drawer' % (option,),
+                'slide the %s drawer shut' % (option,)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/close_fridge.py b/external/rlbench/rlbench/tasks/close_fridge.py
new file mode 100644
index 0000000000000000000000000000000000000000..cd49b9f8f20f9ecac3cde066206a2442338ce570
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_fridge.py
@@ -0,0 +1,32 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseFridge(Task):
+
+    def init_task(self) -> None:
+        top_joint = Joint('top_joint')
+        self.register_success_conditions(
+            [JointCondition(top_joint, np.deg2rad(30))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['close fridge',
+                'close the fridge',
+                'shut the fridge',
+                'close the fridge door',
+                'swing the fridge door shut']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('fridge_root')
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 4), (0.0, 0.0, np.pi / 4)
diff --git a/external/rlbench/rlbench/tasks/close_grill.py b/external/rlbench/rlbench/tasks/close_grill.py
new file mode 100644
index 0000000000000000000000000000000000000000..60c2c24e4560ec2f2b685e926fcfeeae8ea9b861
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_grill.py
@@ -0,0 +1,30 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseGrill(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            JointCondition(Joint('lid_joint'), np.deg2rad(50))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['close the grill',
+                'grasp the handle and lower the grill cover to close it',
+                'close the bbq',
+                'close the barbecue']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 2), (0.0, 0.0, np.pi / 2)
+
+    def boundary_root(self) -> Object:
+        return Shape('grill_root')
diff --git a/external/rlbench/rlbench/tasks/close_jar.py b/external/rlbench/rlbench/tasks/close_jar.py
new file mode 100644
index 0000000000000000000000000000000000000000..0f4aa7ebd905c0c79851aa41c9e14d693a3e9ccb
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_jar.py
@@ -0,0 +1,63 @@
+from typing import List, Tuple
+from rlbench.backend.task import Task
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.const import colors
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.dummy import Dummy
+
+class CloseJar(Task):
+
+    def init_task(self) -> None:
+        self.lid = Shape('jar_lid0')
+        self.jars = [Shape('jar%d' % i) for i in range(2)]
+        self.register_graspable_objects([self.lid])
+        self.boundary = Shape('spawn_boundary')
+        self.conditions = [NothingGrasped(self.robot.gripper)]
+
+    def init_episode(self, index: int) -> List[str]:
+        b = SpawnBoundary([self.boundary])
+        for obj in self.jars:
+            b.sample(obj, min_distance=0.01)
+        success = ProximitySensor('success')
+        success.set_position([0.0, 0.0, 0.05], relative_to=self.jars[index % 2],
+                             reset_dynamics=False)
+        w3 = Dummy('waypoint3')
+        w3.set_orientation([-np.pi, 0, -np.pi], reset_dynamics=False)
+        w3.set_position([0.0, 0.0, 0.125], relative_to=self.jars[index % 2],
+                        reset_dynamics=False)
+        target_color_name, target_color_rgb = colors[index]
+        color_choice = np.random.choice(
+            list(range(index)) + list(
+                range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        _, distractor_color_rgb = colors[color_choice]
+        self.jars[index % 2].set_color(target_color_rgb)
+        other_index = {0: 1, 1: 0}
+        self.jars[other_index[index % 2]].set_color(distractor_color_rgb)
+        self.conditions += [DetectedCondition(self.lid, success)]
+        self.register_success_conditions(self.conditions)
+        return ['close the %s jar' % target_color_name,
+                'screw on the %s jar lid' % target_color_name,
+                'grasping the lid, lift it from the table and use it to seal '
+                'the %s jar' % target_color_name,
+                'pick up the lid from the table and put it on the %s jar'
+                % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def cleanup(self) -> None:
+        self.conditions = [NothingGrasped(self.robot.gripper)]
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        # This is here to stop the issue of gripper rotation joint reaching its
+        # limit and not being able to go through the full range of rotation to
+        # unscrew, leading to a weird jitery and tilted cap while unscrewing.
+        # Issue occured rarely so is only minor
+        return (0.0, 0.0, -0.6*np.pi), (0.0, 0.0, +0.6*np.pi)
\ No newline at end of file
diff --git a/external/rlbench/rlbench/tasks/close_laptop_lid.py b/external/rlbench/rlbench/tasks/close_laptop_lid.py
new file mode 100644
index 0000000000000000000000000000000000000000..92ba4b1b62b49405dfde2b766a699891ca0ea2d4
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_laptop_lid.py
@@ -0,0 +1,18 @@
+from typing import List
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseLaptopLid(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([JointCondition(Joint('joint'), 1.79)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['close laptop lid',
+                'close the laptop',
+                'shut the laptop lid']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/close_microwave.py b/external/rlbench/rlbench/tasks/close_microwave.py
new file mode 100644
index 0000000000000000000000000000000000000000..f34b52a084da6afcb3d260601d73a094e71ba04d
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/close_microwave.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class CloseMicrowave(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([JointCondition(
+            Joint('microwave_door_joint'), np.deg2rad(40))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['close microwave',
+                'shut the microwave',
+                'close the microwave door',
+                'push the microwave door shut']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8.], [0, 0, np.pi / 8.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/empty_container.py b/external/rlbench/rlbench/tasks/empty_container.py
new file mode 100644
index 0000000000000000000000000000000000000000..d449be18d9e6620fb3bec3be276d0d7a0f8c4fe9
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/empty_container.py
@@ -0,0 +1,108 @@
+"""
+Procedural objects supplied from:
+https://sites.google.com/site/brainrobotdata/home/models
+"""
+
+from typing import List
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import ConditionSet, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+from rlbench.backend.task_utils import sample_procedural_objects
+from rlbench.const import colors
+
+
+class EmptyContainer(Task):
+
+    def init_task(self) -> None:
+        self.large_container = Shape('large_container')
+        self.target_container0 = Shape('small_container0')
+        self.target_container1 = Shape('small_container1')
+        self.success_detector0 = ProximitySensor('success0')
+        self.success_detector1 = ProximitySensor('success1')
+        self.target_waypoint = Dummy('waypoint3')
+        self.spawn_boundary = SpawnBoundary([Shape('spawn_boundary')])
+        self.register_waypoint_ability_start(1, self._move_above_object)
+        self.register_waypoints_should_repeat(self._repeat)
+        self.bin_objects = []
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        self.bin_objects = sample_procedural_objects(self.get_base(), 3)
+        self.bin_objects_not_done = list(self.bin_objects)
+        self.register_graspable_objects(self.bin_objects)
+        self.spawn_boundary.clear()
+        for ob in self.bin_objects:
+            ob.set_position(
+                [0.0, 0.0, 0.2], relative_to=self.large_container,
+                reset_dynamics=False)
+            self.spawn_boundary.sample(
+                ob, ignore_collisions=True, min_distance=0.05)
+        target_pos = [-5.9605e-8, -2.5005e-1, +1.7e-1]
+        conditions = []
+        target_color_name, target_color_rgb = colors[index]
+        color_choice = np.random.choice(
+            list(range(index)) + list(
+                range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        _, distractor_color_rgb = colors[color_choice]
+        if index % 2 == 0:
+            self.target_container0.set_color(target_color_rgb)
+            self.target_container1.set_color(distractor_color_rgb)
+            for ob in self.bin_objects:
+                conditions.append(DetectedCondition(ob, self.success_detector0))
+        else:
+            self.target_container1.set_color(target_color_rgb)
+            self.target_container0.set_color(distractor_color_rgb)
+            for ob in self.bin_objects:
+                conditions.append(DetectedCondition(ob, self.success_detector1))
+            target_pos[1] = -target_pos[1]
+        self.target_waypoint.set_position(
+            target_pos, relative_to=self.large_container, reset_dynamics=True)
+        self.register_success_conditions(
+            [ConditionSet(conditions, simultaneously_met=True)])
+
+        return ['empty the container in the to %s container'
+                % target_color_name,
+                'clear all items from the large tray and put them in the %s '
+                'tray' % target_color_name,
+                'move all objects from the large container and drop them into '
+                'the smaller %s one' % target_color_name,
+                'remove whatever you find in the big box in the middle and '
+                'leave them in the %s one' % target_color_name,
+                'grasp and move all objects into the %s container'
+                % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def cleanup(self) -> None:
+        [ob.remove() for ob in self.bin_objects if ob.still_exists()]
+        self.bin_objects = []
+
+    def step(self) -> None:
+        for ob in self.bin_objects_not_done:
+            if self._variation_index % 2 == 0:
+                if self.success_detector0.is_detected(ob):
+                    self.bin_objects_not_done.remove(ob)
+            else:
+                if self.success_detector1.is_detected(ob):
+                    self.bin_objects_not_done.remove(ob)
+
+    def _move_above_object(self, waypoint):
+        if len(self.bin_objects_not_done) <= 0:
+            raise RuntimeError('Should not be here.')
+        bin_obj = self.bin_objects_not_done[0]
+        way_obj = waypoint.get_waypoint_object()
+        way_obj.set_position(bin_obj.get_position())
+        x, y, _ = way_obj.get_orientation()
+        _, _, z = bin_obj.get_orientation(relative_to=way_obj)
+        way_obj.set_orientation([x, y, z])
+
+    def _repeat(self):
+        return len(self.bin_objects_not_done) > 0
diff --git a/external/rlbench/rlbench/tasks/empty_dishwasher.py b/external/rlbench/rlbench/tasks/empty_dishwasher.py
new file mode 100644
index 0000000000000000000000000000000000000000..0532b44939de0edad934180b4e4c65ae2cfda40c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/empty_dishwasher.py
@@ -0,0 +1,30 @@
+from typing import List, Tuple
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+
+
+class EmptyDishwasher(Task):
+
+    def init_task(self) -> None:
+        success_detector = ProximitySensor('success')
+        plate = Shape('dishwasher_plate')
+        self.register_graspable_objects([plate])
+        self.register_success_conditions(
+            [DetectedCondition(plate, success_detector, negated=True)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['empty the dishwasher', 'take dishes out of dishwasher',
+                'open the  dishwasher door, slide the rack out and remove the '
+                'dishes']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 2.], [0, 0, 3.14 / 2.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/get_ice_from_fridge.py b/external/rlbench/rlbench/tasks/get_ice_from_fridge.py
new file mode 100644
index 0000000000000000000000000000000000000000..d26d00bfbe8ead06d62964d5a04185b9e8481060
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/get_ice_from_fridge.py
@@ -0,0 +1,38 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import DetectedCondition, JointCondition
+from rlbench.backend.task import Task
+
+
+class GetIceFromFridge(Task):
+
+    def init_task(self) -> None:
+        cup = Shape('cup')
+        self.register_graspable_objects([cup])
+        self.register_success_conditions([
+            JointCondition(Joint('joint'), np.deg2rad(1)),
+            DetectedCondition(cup, ProximitySensor('success'))
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['get ice from fridge',
+                'use the cup to get ice from the fridge',
+                'pick up the cup and fill it with ice from the fridge',
+                'push the cup up against the tongue of the ice dispenser to '
+                'retrieve ice from the fridge']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('fridge_root')
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi/4), (0.0, 0.0, np.pi/4)
diff --git a/external/rlbench/rlbench/tasks/hang_frame_on_hanger.py b/external/rlbench/rlbench/tasks/hang_frame_on_hanger.py
new file mode 100644
index 0000000000000000000000000000000000000000..5df38807b7ec0bb25a42ba3a1eb71d5ff9890725
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/hang_frame_on_hanger.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class HangFrameOnHanger(Task):
+
+    def init_task(self) -> None:
+        success_sensor = ProximitySensor('success')
+        frame = Shape('frame')
+        frame_detector = Shape('frame_detector')
+        self.register_graspable_objects([frame])
+        self.register_success_conditions(
+            [DetectedCondition(frame_detector, success_sensor),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['hang frame on hanger',
+                'hang the picture up',
+                'hang the picture frame up on the wall',
+                'place the frame on the hanger']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
diff --git a/external/rlbench/rlbench/tasks/hit_ball_with_queue.py b/external/rlbench/rlbench/tasks/hit_ball_with_queue.py
new file mode 100644
index 0000000000000000000000000000000000000000..932d7b369ea469e3cff1217f349092190b9b0dc2
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/hit_ball_with_queue.py
@@ -0,0 +1,29 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, GraspedCondition, \
+    ConditionSet
+
+
+class HitBallWithQueue(Task):
+
+    def init_task(self) -> None:
+        queue = Shape('queue')
+        success_sensor = ProximitySensor('success')
+        ball = Shape('ball')
+        self.register_graspable_objects([queue])
+
+        cond_set = ConditionSet([
+            GraspedCondition(self.robot.gripper, queue),
+            DetectedCondition(ball, success_sensor)
+        ], order_matters=True)
+        self.register_success_conditions([cond_set])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['hit ball with queue in to the goal',
+                'pot the ball in the goal',
+                'pick up the que and use it to pot the ball into the goal']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/hockey.py b/external/rlbench/rlbench/tasks/hockey.py
new file mode 100644
index 0000000000000000000000000000000000000000..21f2de9bdc7f3f4c0c82ec976e9be045fd00d7d5
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/hockey.py
@@ -0,0 +1,29 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, GraspedCondition
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+
+
+class Hockey(Task):
+
+    def init_task(self) -> None:
+        stick = Shape('hockey_stick')
+        self.register_success_conditions([
+            DetectedCondition(Shape('hockey_ball'),
+                              ProximitySensor('success')),
+            GraspedCondition(self.robot.gripper, stick)])
+        self.register_graspable_objects([stick])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['hit the ball into the net',
+                'use the stick to push the hockey ball into the goal',
+                'pick up the hockey stick, then swing at the ball in the '
+                'direction of the net',
+                'score a hockey goal',
+                'grasping one end of the hockey stick, swing it such that the '
+                'other end collides with the ball such that the ball goes '
+                'into the goal']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/insert_onto_square_peg.py b/external/rlbench/rlbench/tasks/insert_onto_square_peg.py
new file mode 100644
index 0000000000000000000000000000000000000000..e903d35fe49ce6e42c4e0dea858c6f62abed8393
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/insert_onto_square_peg.py
@@ -0,0 +1,47 @@
+from typing import List
+import numpy as np
+from pyrep.objects import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, ConditionSet
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+
+class InsertOntoSquarePeg(Task):
+
+    def init_task(self) -> None:
+        self._square_ring = Shape('square_ring')
+        self._success_centre = Dummy('success_centre')
+        success_detectors = [ProximitySensor(
+            'success_detector%d' % i) for i in range(4)]
+        self.register_graspable_objects([self._square_ring])
+        success_condition = ConditionSet([DetectedCondition(
+            self._square_ring, sd) for sd in success_detectors])
+        self.register_success_conditions([success_condition])
+
+    def init_episode(self, index: int) -> List[str]:
+        color_name, color_rgb = colors[index]
+        spokes = [Shape('pillar0'), Shape('pillar1'), Shape('pillar2')]
+        chosen_pillar = np.random.choice(spokes)
+        chosen_pillar.set_color(color_rgb)
+        _, _, z = self._success_centre.get_position()
+        x, y, _ = chosen_pillar.get_position()
+        self._success_centre.set_position([x, y, z])
+
+        color_choices = np.random.choice(
+            list(range(index)) + list(range(index + 1, len(colors))),
+            size=2, replace=False)
+        spokes.remove(chosen_pillar)
+        for spoke, i in zip(spokes, color_choices):
+            name, rgb = colors[i]
+            spoke.set_color(rgb)
+        b = SpawnBoundary([Shape('boundary0')])
+        b.sample(self._square_ring)
+        return ['put the ring on the %s spoke' % color_name,
+                'slide the ring onto the %s colored spoke' % color_name,
+                'place the ring onto the %s spoke' % color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
diff --git a/external/rlbench/rlbench/tasks/insert_usb_in_computer.py b/external/rlbench/rlbench/tasks/insert_usb_in_computer.py
new file mode 100644
index 0000000000000000000000000000000000000000..c2be8e2f88d75b61a4bc6997555ea9ddfc8c5d6c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/insert_usb_in_computer.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+
+class InsertUsbInComputer(Task):
+
+    def init_task(self) -> None:
+        success_sensor = ProximitySensor('success')
+        usb = Shape('usb')
+        usb_tip = Shape('tip')
+        self.register_graspable_objects([usb])
+        self.register_success_conditions(
+            [DetectedCondition(usb_tip, success_sensor)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['insert usb in computer',
+                'pick up the usb and put it in the computer',
+                'slide the usb into the usb slot',
+                'insert the usb stick into the usb port']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
diff --git a/external/rlbench/rlbench/tasks/lamp_off.py b/external/rlbench/rlbench/tasks/lamp_off.py
new file mode 100644
index 0000000000000000000000000000000000000000..283707c5b54e8ab9fa73a21211ef6967f4afaf17
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/lamp_off.py
@@ -0,0 +1,31 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+
+
+class LampOff(Task):
+
+    def init_task(self) -> None:
+        self.bulb_glass_visual = Shape('bulb')
+        self.bulb_glass_visual.set_color([1, 1, 1])
+        self.joint = Joint('target_button_joint')
+        self.condition = JointCondition(self.joint, 0.003)
+
+    def init_episode(self, index: int) -> List[str]:
+        self.bulb_glass_visual.set_color([1, 1, 1])
+        self.register_success_conditions([self.condition])
+        return ['turn off the light',
+                'press the button to turn off the lamp',
+                'press the light switch',
+                'turn the lamp off',
+                'close the gripper and press on the button until the light '
+                'turns off']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        if self.condition.condition_met() == (True, True):
+            self.bulb_glass_visual.set_color([0, 0, 0])
diff --git a/external/rlbench/rlbench/tasks/lamp_on.py b/external/rlbench/rlbench/tasks/lamp_on.py
new file mode 100644
index 0000000000000000000000000000000000000000..50ec173b010de0984c0dcc1944634e34f4308ab7
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/lamp_on.py
@@ -0,0 +1,31 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+
+
+class LampOn(Task):
+
+    def init_task(self) -> None:
+        self.bulb_glass_visual = Shape('bulb')
+        self.bulb_glass_visual.set_color([0, 0, 0])
+        self.joint = Joint('target_button_joint')
+        self.condition = JointCondition(self.joint, 0.003)
+
+    def init_episode(self, index: int) -> List[str]:
+        self.bulb_glass_visual.set_color([0, 0, 0])
+        self.register_success_conditions([self.condition])
+        return ['turn on the light',
+                'press the button to turn on the lamp',
+                'press the light switch',
+                'turn the lamp on',
+                'close the gripper and press on the button until the light '
+                'turns on']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        if self.condition.condition_met()[0]:
+            self.bulb_glass_visual.set_color([1, 1, 1])
diff --git a/external/rlbench/rlbench/tasks/lift_numbered_block.py b/external/rlbench/rlbench/tasks/lift_numbered_block.py
new file mode 100644
index 0000000000000000000000000000000000000000..843f74831b54419ea5822e5809a7f51ca3837ec5
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/lift_numbered_block.py
@@ -0,0 +1,44 @@
+from typing import List
+
+from pyrep.objects import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import DetectedCondition, ConditionSet, \
+    GraspedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+
+
+class LiftNumberedBlock(Task):
+
+    def init_task(self) -> None:
+        self._blocks = [Shape('block%d' % i) for i in range(1, 4)]
+        self._anchor = [Dummy('anchor%d' % i) for i in range(1, 4)]
+        self.register_graspable_objects(self._blocks)
+        self._boundary = SpawnBoundary([Shape('boundary')])
+        self._success_detector = ProximitySensor('success')
+        self._w1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        block_num = index + 1
+        target_block = self._blocks[index]
+        self._boundary.clear()
+        for block in self._blocks:
+            self._boundary.sample(block, min_distance=0.2)
+        self._w1.set_pose(self._anchor[index].get_pose())
+
+        self.register_success_conditions([
+            GraspedCondition(self.robot.gripper, target_block),
+            DetectedCondition(target_block, self._success_detector)
+        ])
+
+        return ['pick up the block with the number %d' % block_num,
+                'grasp the %d numbered block and lift' % block_num,
+                'lift the %d numbered block' % block_num]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def is_static_workspace(self) -> bool:
+        return True
diff --git a/external/rlbench/rlbench/tasks/light_bulb_in.py b/external/rlbench/rlbench/tasks/light_bulb_in.py
new file mode 100644
index 0000000000000000000000000000000000000000..10bd57f9d00e85cb189edfa7098580865890d1f6
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/light_bulb_in.py
@@ -0,0 +1,68 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.const import colors
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.dummy import Dummy
+
+
+class LightBulbIn(Task):
+
+    def init_task(self) -> None:
+        self.bulbs_visual = [Shape('light_bulb%d' % i) for i in range(2)]
+        self.bulb_glass_visual = [Shape('bulb%d' % i) for i in range(2)]
+        self.holders = [Shape('bulb_holder%d' % i) for i in range(2)]
+        self.bulbs = [Shape('bulb_phys%d' % i) for i in range(2)]
+        self.conditions = [NothingGrasped(self.robot.gripper)]
+        self.register_graspable_objects(self.bulbs)
+        self.boundary = Shape('spawn_boundary')
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        b = SpawnBoundary([self.boundary])
+        for holder in self.holders:
+            b.sample(holder, min_distance=0.01)
+        self.w1 = Dummy('waypoint1')
+        self.w1.set_position([0, 0, +10*10**(-3)],
+                             relative_to=self.bulb_glass_visual[index % 2],
+                             reset_dynamics=False)
+        target_color_name, target_color_rgb = colors[index]
+        color_choice = np.random.choice(
+            list(range(index)) + list(
+                range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        _, distractor_color_rgb = colors[color_choice]
+        self.holders[index % 2].set_color(target_color_rgb)
+        other_index = {0: 1, 1: 0}
+        self.holders[other_index[index % 2]].set_color(distractor_color_rgb)
+        self.register_success_conditions([DetectedCondition(
+                                              self.bulbs[index % 2],
+                                              ProximitySensor('success')),
+                                          NothingGrasped(self.robot.gripper)])
+
+        return ['screw in the %s light bulb' % target_color_name,
+                'screw the light bulb from the %s holder into the lamp'
+                % target_color_name,
+                'pick up the light bulb from the %s stand, lift it up to just '
+                'above the lamp, then screw it down into the lamp in a '
+                'clockwise fashion' % target_color_name,
+                'put the light bulb from the %s casing into the lamp'
+                % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def step(self) -> None:
+        if DetectedCondition(self.bulbs[self._variation_index % 2],
+                                  ProximitySensor('success')).condition_met() \
+                == (True, True):
+            self.bulb_glass_visual[self._variation_index % 2].set_color(
+                [1.0, 1.0, 0.0])
+
+    def cleanup(self) -> None:
+        if self.bulb_glass_visual:
+            [self.bulb_glass_visual[i].set_color([1.0, 1.0, 1.0])
+             for i in range(2)]
\ No newline at end of file
diff --git a/external/rlbench/rlbench/tasks/light_bulb_out.py b/external/rlbench/rlbench/tasks/light_bulb_out.py
new file mode 100644
index 0000000000000000000000000000000000000000..ef889263691273f303806ce17d347e760fbe0cfa
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/light_bulb_out.py
@@ -0,0 +1,71 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.const import colors
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.dummy import Dummy
+
+
+class LightBulbOut(Task):
+
+    def init_task(self) -> None:
+        self.bulb_visual = Shape('light_bulb')
+        self.bulb_glass_visual = Shape('bulb')
+        self.holders = [Shape('bulb_holder%d' % i) for i in range(2)]
+        self.bulb = Shape('bulb_phys')
+        self.conditions = [NothingGrasped(self.robot.gripper)]
+        self.boundary = Shape('spawn_boundary')
+        self.register_graspable_objects([self.bulb])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        b = SpawnBoundary([self.boundary])
+        for holder in self.holders:
+            b.sample(holder, min_distance=0.01)
+        ProximitySensor('success').set_position([0, 0, 0],
+                                                relative_to=self.holders[
+                                                    index % 2],
+                                                reset_dynamics=False)
+        w1 = Dummy('waypoint1')
+        w1.set_orientation([-np.pi, 0, -np.pi], reset_dynamics=False)
+        w4 = Dummy('waypoint4')
+        w4.set_orientation([-np.pi, 0, +3.735*10**(-1)], reset_dynamics=False)
+        target_color_name, target_color_rgb = colors[index]
+        color_choice = np.random.choice(
+            list(range(index)) + list(
+                range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        _, distractor_color_rgb = colors[color_choice]
+        self.holders[index % 2].set_color(target_color_rgb)
+        other_index = {0: 1, 1: 0}
+        self.holders[other_index[index % 2]].set_color(distractor_color_rgb)
+        self.register_success_conditions([DetectedCondition(
+            self.bulb,
+            ProximitySensor('success')),
+            NothingGrasped(self.robot.gripper)])
+        return ['put the bulb in the %s holder' % target_color_name,
+                'screw the bulb out and leave it in the %s stand' %
+                target_color_name,
+                'remove the bulb from the lamp and put it in the %s stand' %
+                target_color_name,
+                'take the light bulb out of the lamp and place it in the %s '
+                'holder' % target_color_name,
+                'grasp the light bulb, twist it anti clockwise until it is no '
+                'longer attached to the lamp, and drop it into the %s stand'
+                % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def step(self) -> None:
+        if DetectedCondition(self.bulb, ProximitySensor('lamp_detector'),
+                             negated=True).condition_met() \
+                == (True, True):
+            self.bulb_glass_visual.set_color([1.0, 1.0, 1.0])
+
+    def cleanup(self) -> None:
+        if self.bulb_glass_visual:
+            self.bulb_glass_visual.set_color([1.0, 1.0, 0.0])
diff --git a/external/rlbench/rlbench/tasks/meat_off_grill.py b/external/rlbench/rlbench/tasks/meat_off_grill.py
new file mode 100644
index 0000000000000000000000000000000000000000..fdf4c2c7a6467e916d82f44a942af15ab5c4461d
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/meat_off_grill.py
@@ -0,0 +1,40 @@
+from typing import List
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.task import Task
+
+MEAT = ['chicken', 'steak']
+
+
+class MeatOffGrill(Task):
+
+    def init_task(self) -> None:
+        self._steak = Shape('steak')
+        self._chicken = Shape('chicken')
+        self._success_sensor = ProximitySensor('success')
+        self.register_graspable_objects([self._chicken, self._steak])
+        self._w1 = Dummy('waypoint1')
+        self._w1z= self._w1.get_position()[2]
+
+    def init_episode(self, index: int) -> List[str]:
+        conditions = [NothingGrasped(self.robot.gripper)]
+        if index == 0:
+            x, y, _ = self._chicken.get_position()
+            self._w1.set_position([x, y, self._w1z])
+            conditions.append(
+                DetectedCondition(self._chicken, self._success_sensor))
+        else:
+            x, y, _ = self._steak.get_position()
+            self._w1.set_position([x, y, self._w1z])
+            conditions.append(
+                DetectedCondition(self._steak, self._success_sensor))
+        self.register_success_conditions(conditions)
+        return ['take the %s off the grill' % MEAT[index],
+                'pick up the %s and place it next to the grill' % MEAT[index],
+                'remove the %s from the grill and set it down to the side'
+                % MEAT[index]]
+
+    def variation_count(self) -> int:
+        return 2
diff --git a/external/rlbench/rlbench/tasks/meat_on_grill.py b/external/rlbench/rlbench/tasks/meat_on_grill.py
new file mode 100644
index 0000000000000000000000000000000000000000..6d49b97929478c8c8bb0437b4cb9d58c742f1ba3
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/meat_on_grill.py
@@ -0,0 +1,39 @@
+from typing import List
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.task import Task
+
+MEAT = ['chicken', 'steak']
+
+
+class MeatOnGrill(Task):
+
+    def init_task(self) -> None:
+        self._steak = Shape('steak')
+        self._chicken = Shape('chicken')
+        self._success_sensor = ProximitySensor('success')
+        self.register_graspable_objects([self._chicken, self._steak])
+        self._w1 = Dummy('waypoint1')
+        self._w1z = self._w1.get_position()[2]
+
+    def init_episode(self, index: int) -> List[str]:
+        conditions = [NothingGrasped(self.robot.gripper)]
+        if index == 0:
+            x, y, _ = self._chicken.get_position()
+            self._w1.set_position([x, y, self._w1z])
+            conditions.append(
+                DetectedCondition(self._chicken, self._success_sensor))
+        else:
+            x, y, _ = self._steak.get_position()
+            self._w1.set_position([x, y, self._w1z])
+            conditions.append(
+                DetectedCondition(self._steak, self._success_sensor))
+        self.register_success_conditions(conditions)
+        return ['put the %s on the grill' % MEAT[index],
+                'pick up the %s and place it on the grill' % MEAT[index],
+                'grill the %s' % MEAT[index]]
+
+    def variation_count(self) -> int:
+        return 2
diff --git a/external/rlbench/rlbench/tasks/move_hanger.py b/external/rlbench/rlbench/tasks/move_hanger.py
new file mode 100644
index 0000000000000000000000000000000000000000..48a75ae748dc27df0e82460c64eefefa90186aaa
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/move_hanger.py
@@ -0,0 +1,34 @@
+from typing import List
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+import numpy as np
+
+
+class MoveHanger(Task):
+
+    def init_task(self) -> None:
+        self.hanger = Shape('clothes_hanger0')
+        self.initx, self.inity, self.initz = self.hanger.get_position()
+        self.register_graspable_objects([self.hanger])
+        success_detector = ProximitySensor('success_detector')
+        hanger_visual = Shape('clothes_hanger_visual0')
+        self.register_success_conditions([
+            DetectedCondition(hanger_visual, success_detector),
+            NothingGrasped(self.robot.gripper)
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.hanger.set_position(
+            [self.initx + np.random.uniform(-0.1, 0.3), self.inity, self.initz])
+        return ['move hanger onto the other rack'
+                'move the hanger from one rack to the other',
+                'put the hanger on the other rack',
+                'pick up the hanger and place it on the other rack']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def is_static_workspace(self) -> bool:
+        return True
diff --git a/external/rlbench/rlbench/tasks/open_box.py b/external/rlbench/rlbench/tasks/open_box.py
new file mode 100644
index 0000000000000000000000000000000000000000..7637a0b1a32e046cb26f4661ddb35bf93d2e8f4e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_box.py
@@ -0,0 +1,24 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenBox(Task):
+
+    def init_task(self):
+        self.register_success_conditions([
+            JointCondition(Joint('box_joint'), np.pi / 2)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['open box',
+                'open the box lid',
+                'open the box',
+                'grasp the lid and open the box']
+
+    def variation_count(self):
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_door.py b/external/rlbench/rlbench/tasks/open_door.py
new file mode 100644
index 0000000000000000000000000000000000000000..0489b05b68baae476f97df552c7ef0857bc4adf8
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_door.py
@@ -0,0 +1,39 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenDoor(Task):
+
+    def init_task(self) -> None:
+        self._door_joint = Joint('door_frame_joint')
+        self.register_success_conditions([
+            JointCondition(self._door_joint, np.deg2rad(25))])
+        self._door_unlock_cond = JointCondition(
+            Joint('door_handle_joint'), np.deg2rad(25))
+
+    def init_episode(self, index: int) -> List[str]:
+        self._door_unlocked = False
+        self._door_joint.set_motor_locked_at_zero_velocity(True)
+        return ['open the door',
+                'grip the handle and push the door open',
+                'use the handle to open the door']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        if not self._door_unlocked:
+            self._door_unlocked = self._door_unlock_cond.condition_met()[0]
+            if self._door_unlocked:
+                self._door_joint.set_motor_locked_at_zero_velocity(False)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4.], [0, 0, np.pi / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/open_drawer.py b/external/rlbench/rlbench/tasks/open_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..da2b87e24b81088a7c55593633648d6d0324e3b5
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer.py
@@ -0,0 +1,33 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenDrawer(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+        return ['open the %s drawer' % option,
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_color_frame.py b/external/rlbench/rlbench/tasks/open_drawer_test_color_frame.py
new file mode 100644
index 0000000000000000000000000000000000000000..f1cc320b667ce9ddd5da3862d5711959ee4e8a9d
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_color_frame.py
@@ -0,0 +1,49 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+
+class OpenDrawerTestColorFrame(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        color_idx = np.random.randint(len(colors))
+        color_name, color_rgb = colors[color_idx]
+
+        drawer_frame = Shape('drawer_frame')
+        drawer_top = Shape('drawer_top')
+        drawer_middle = Shape('drawer_middle')
+        drawer_bottom = Shape('drawer_bottom')
+
+        drawer_frame.set_color(color_rgb)
+        # drawer_top.set_color(color_rgb)
+        # drawer_middle.set_color(color_rgb)
+        # drawer_bottom.set_color(color_rgb)
+
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+
+        return ['open the %s drawer' % (option),
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % (option)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_color_full.py b/external/rlbench/rlbench/tasks/open_drawer_test_color_full.py
new file mode 100644
index 0000000000000000000000000000000000000000..096347a345a912d766aaca74863b6aa4e1f326d3
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_color_full.py
@@ -0,0 +1,49 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+
+class OpenDrawerTestColorFull(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        color_idx = np.random.randint(len(colors))
+        color_name, color_rgb = colors[color_idx]
+
+        drawer_frame = Shape('drawer_frame')
+        drawer_top = Shape('drawer_top')
+        drawer_middle = Shape('drawer_middle')
+        drawer_bottom = Shape('drawer_bottom')
+
+        drawer_frame.set_color(color_rgb)
+        drawer_top.set_color(color_rgb)
+        drawer_middle.set_color(color_rgb)
+        drawer_bottom.set_color(color_rgb)
+
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+
+        return ['open the %s drawer' % (option),
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % (option)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_shape_large_handles.py b/external/rlbench/rlbench/tasks/open_drawer_test_shape_large_handles.py
new file mode 100644
index 0000000000000000000000000000000000000000..260d1a9a9ad4954e37cb6a791a5770dbc8122daa
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_shape_large_handles.py
@@ -0,0 +1,33 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenDrawerTestShapeLargeHandles(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+        return ['open the %s drawer' % option,
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_shape_small_body.py b/external/rlbench/rlbench/tasks/open_drawer_test_shape_small_body.py
new file mode 100644
index 0000000000000000000000000000000000000000..cf183f2f205e19bf4e320b86d982bde3b6fb9ccb
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_shape_small_body.py
@@ -0,0 +1,33 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenDrawerTestShapeSmallBody(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+        return ['open the %s drawer' % option,
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % option]
+
+    def variation_count(self) -> int:
+        return 2
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_shape_square_handles.py b/external/rlbench/rlbench/tasks/open_drawer_test_shape_square_handles.py
new file mode 100644
index 0000000000000000000000000000000000000000..fed371c263928d8c95ef9598a5f06e155b4d05c7
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_shape_square_handles.py
@@ -0,0 +1,33 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenDrawerTestShapeSquareHandles(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+        return ['open the %s drawer' % option,
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_texture_frame.py b/external/rlbench/rlbench/tasks/open_drawer_test_texture_frame.py
new file mode 100644
index 0000000000000000000000000000000000000000..43baf3d6718d11ea9eefba563da5aa9a58fed318
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_texture_frame.py
@@ -0,0 +1,73 @@
+import numpy as np
+from os import path
+
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.const import TextureMappingMode
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), '../../', 'tests', 'unit', 'assets', 'textures')
+NUM_TEXTURES = 10
+
+TEX_KWARGS = {
+    'mapping_mode': TextureMappingMode.PLANE,
+    'repeat_along_u': True,
+    'repeat_along_v': True,
+}
+
+
+class OpenDrawerTestTextureFrame(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        texture_idx = np.random.randint(NUM_TEXTURES)
+        texture_file = path.join(ASSET_DIR, '%d.png' % texture_idx)
+        text_ob, texture = self.pyrep.create_texture(texture_file)
+
+        drawer = Shape('drawer')
+        drawer0 = Shape('drawer0')
+        drawer1 = Shape('drawer1')
+        drawer2 = Shape('drawer2')
+        drawer_frame = Shape('drawer_frame')
+
+        drawer.set_texture(texture, **TEX_KWARGS)
+        drawer0.set_texture(texture, **TEX_KWARGS)
+        drawer1.set_texture(texture, **TEX_KWARGS)
+        drawer2.set_texture(texture, **TEX_KWARGS)
+        drawer_frame.set_texture(texture, **TEX_KWARGS)
+
+        # ungrouped = drawer_frame.ungroup()
+        # for o in ungrouped:
+        #     o.set_texture(texture, **TEX_KWARGS)
+        # self.pyrep.group_objects(ungrouped)
+        
+        # drawer_frame.set_texture(texture, **TEX_KWARGS)
+        text_ob.remove()
+        self.pyrep.step()
+
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+
+        return ['open the %s drawer' % (option),
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % (option)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_drawer_test_texture_full.py b/external/rlbench/rlbench/tasks/open_drawer_test_texture_full.py
new file mode 100644
index 0000000000000000000000000000000000000000..4e4131425d1ea83ba31d4ef0d0170a766535975a
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_drawer_test_texture_full.py
@@ -0,0 +1,83 @@
+import numpy as np
+from os import path
+
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.const import TextureMappingMode
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), '../../', 'tests', 'unit', 'assets', 'textures')
+NUM_TEXTURES = 10
+
+TEX_KWARGS = {
+    'mapping_mode': TextureMappingMode.PLANE,
+    'repeat_along_u': True,
+    'repeat_along_v': True,
+}
+
+
+class OpenDrawerTestTextureFull(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+
+    def init_episode(self, index: int) -> List[str]:
+        texture_idx = np.random.randint(NUM_TEXTURES)
+        texture_file = path.join(ASSET_DIR, '%d.png' % texture_idx)
+        text_ob, texture = self.pyrep.create_texture(texture_file)
+
+        drawer = Shape('drawer')
+        drawer0 = Shape('drawer0')
+        drawer1 = Shape('drawer1')
+        drawer2 = Shape('drawer2')
+        drawer_frame = Shape('drawer_frame')
+
+        drawer_top = Shape('drawer_top')
+        drawer_middle = Shape('drawer_middle')
+        drawer_bottom = Shape('drawer_bottom')
+
+        drawer.set_texture(texture, **TEX_KWARGS)
+        drawer0.set_texture(texture, **TEX_KWARGS)
+        drawer1.set_texture(texture, **TEX_KWARGS)
+        drawer2.set_texture(texture, **TEX_KWARGS)
+        drawer_frame.set_texture(texture, **TEX_KWARGS)
+
+        for objs in [drawer_top, drawer_middle, drawer_bottom]:
+            ungrouped = objs.ungroup()
+            for o in ungrouped:
+                o.set_texture(texture, **TEX_KWARGS)
+            self.pyrep.group_objects(ungrouped)
+
+        # ungrouped = drawer_frame.ungroup()
+        # for o in ungrouped:
+        #     o.set_texture(texture, **TEX_KWARGS)
+        # self.pyrep.group_objects(ungrouped)
+        
+        # drawer_frame.set_texture(texture, **TEX_KWARGS)
+        text_ob.remove()
+        self.pyrep.step()
+
+        option = self._options[index]
+        self._waypoint1.set_position(self._anchors[index].get_position())
+        self.register_success_conditions(
+            [JointCondition(self._joints[index], 0.15)])
+
+        return ['open the %s drawer' % (option),
+                'grip the %s handle and pull the %s drawer open' % (
+                    option, option),
+                'slide the %s drawer open' % (option)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/open_fridge.py b/external/rlbench/rlbench/tasks/open_fridge.py
new file mode 100644
index 0000000000000000000000000000000000000000..1bca354e0b52a3808b3c1aefd4e453e01e456aaa
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_fridge.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenFridge(Task):
+
+    def init_task(self):
+        self.register_success_conditions(
+            [JointCondition(Joint('top_joint'), np.deg2rad(70))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['open fridge',
+                'grip the handle and slide the fridge door open',
+                'open the fridge door']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('fridge_root')
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 4), (0.0, 0.0, np.pi / 4)
diff --git a/external/rlbench/rlbench/tasks/open_grill.py b/external/rlbench/rlbench/tasks/open_grill.py
new file mode 100644
index 0000000000000000000000000000000000000000..f159a47bb97201c7b2380a57da87a9ca79ce5e19
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_grill.py
@@ -0,0 +1,30 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects import Object
+from pyrep.objects.joint import Joint
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenGrill(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            JointCondition(Joint('lid_joint'), np.deg2rad(50))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['open the grill',
+                'grasp tha handle and raise the cover up to open the grill',
+                'open the bbq',
+                'open the barbecue']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 2), (0.0, 0.0, np.pi / 2)
+
+    def boundary_root(self) -> Object:
+        return Shape('grill_root')
diff --git a/external/rlbench/rlbench/tasks/open_jar.py b/external/rlbench/rlbench/tasks/open_jar.py
new file mode 100644
index 0000000000000000000000000000000000000000..3f3f1f0aac4c9f30a7079baf8d0269139ee6da5f
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_jar.py
@@ -0,0 +1,62 @@
+from typing import List, Tuple
+from rlbench.backend.task import Task
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.const import colors
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.dummy import Dummy
+
+class OpenJar(Task):
+
+    def init_task(self) -> None:
+        self.lids = [Shape('jar_lid%d' % i) for i in range(2)]
+        self.jars = [Shape('jar%d' % i) for i in range(2)]
+        self.register_graspable_objects(self.lids)
+        self.boundary = Shape('spawn_boundary')
+        self.conditions = [NothingGrasped(self.robot.gripper)]
+
+    def init_episode(self, index: int) -> List[str]:
+        b = SpawnBoundary([self.boundary])
+        success = ProximitySensor('success')
+        for obj in self.jars:
+            b.sample(obj, min_distance=0.01)
+        w0 = Dummy('waypoint0')
+        w0.set_orientation([-np.pi, 0, -np.pi], reset_dynamics=False)
+        w0.set_position([0,0,0.1], relative_to=self.lids[index % 2],
+                        reset_dynamics=False)
+        target_color_name, target_color_rgb = colors[index]
+        color_choice = np.random.choice(
+            list(range(index)) + list(
+                range(index + 1, len(colors))),
+            size=1, replace=False)[0]
+        _, distractor_color_rgb = colors[color_choice]
+        self.jars[index % 2].set_color(target_color_rgb)
+        other_index = {0: 1, 1: 0}
+        self.jars[other_index[index % 2]].set_color(distractor_color_rgb)
+        self.conditions += [DetectedCondition(self.lids[index % 2], success)]
+        self.register_success_conditions(self.conditions)
+        return ['open the %s jar' % target_color_name,
+                'unscrew the %s jar' % target_color_name,
+                'grasp the lid of the %s jar, unscrew it in an anti_clockwise '
+                'direction until it is removed from the jar, and leave it on '
+                'the table top' % target_color_name,
+                'remove the lid from the %s jam jar and set it down on the '
+                'table' % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def cleanup(self) -> None:
+        self.conditions = [NothingGrasped(self.robot.gripper)]
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        # This is here to stop the issue of gripper rotation joint reaching its
+        # limit and not being able to go through the full range of rotation to
+        # unscrew, leading to a weird jitery and tilted cap while unscrewing.
+        # Issue occured rarely so is only minor
+        return (0.0, 0.0, -0.6*np.pi), (0.0, 0.0, +0.6*np.pi)
\ No newline at end of file
diff --git a/external/rlbench/rlbench/tasks/open_microwave.py b/external/rlbench/rlbench/tasks/open_microwave.py
new file mode 100644
index 0000000000000000000000000000000000000000..54dded7bab36f03aeee1b7d9cf397ad06fb1db83
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_microwave.py
@@ -0,0 +1,28 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenMicrowave(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([JointCondition(
+            Joint('microwave_door_joint'), np.deg2rad(80))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['open microwave',
+                'open the microwave door',
+                'pull the microwave door open']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8.], [0, 0, np.pi / 8.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/open_oven.py b/external/rlbench/rlbench/tasks/open_oven.py
new file mode 100644
index 0000000000000000000000000000000000000000..0a56b08533c253ea454274211ea7504a7d4ecc58
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_oven.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import Task
+
+
+class OpenOven(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions(
+            [DetectedCondition(Shape('oven_door'), ProximitySensor('success')),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['open the oven',
+                'open the oven door',
+                'grab hold of the the handle and pull the oven door open']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4.], [0, 0, np.pi / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('oven_boundary_root')
diff --git a/external/rlbench/rlbench/tasks/open_washing_machine.py b/external/rlbench/rlbench/tasks/open_washing_machine.py
new file mode 100644
index 0000000000000000000000000000000000000000..ad61ce73945624237c93035c2edcebcb61c8b375
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_washing_machine.py
@@ -0,0 +1,32 @@
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+from typing import List, Tuple
+from math import pi
+
+import numpy as np
+
+class OpenWashingMachine(Task):
+    def init_task(self) -> None:
+        self.joint = Joint('door_joint')
+        self.register_success_conditions([
+            JointCondition(self.joint, np.deg2rad(40))
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['open washing machine',
+                'open the washing machine door',
+                'pull the washing machine door open']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/open_window.py b/external/rlbench/rlbench/tasks/open_window.py
new file mode 100644
index 0000000000000000000000000000000000000000..8cd6a2d43994a3fdf5e0b352187ce76b15c3555c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_window.py
@@ -0,0 +1,40 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class OpenWindow(Task):
+
+    def init_task(self):
+        self._left_unlocked_cond = JointCondition(
+            Joint('left_handle_joint'), np.deg2rad(80))
+        self._window_joint = Joint('left_window_joint')
+        self.register_success_conditions([JointCondition(
+            self._window_joint, np.deg2rad(30))])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._left_unlocked = False
+        self._window_joint.set_motor_locked_at_zero_velocity(True)
+        return ['open left window',
+                'rotate the handle to unlock the left window, then open it',
+                'push the left window open',
+                'use the handle to open the left window']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        if not self._left_unlocked:
+            self._left_unlocked = self._left_unlocked_cond.condition_met()[0]
+            if self._left_unlocked:
+                self._window_joint.set_motor_locked_at_zero_velocity(False)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4.], [0, 0, np.pi / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/open_wine_bottle.py b/external/rlbench/rlbench/tasks/open_wine_bottle.py
new file mode 100644
index 0000000000000000000000000000000000000000..12746f916d7d6e34c6e1e6c01382cb931bca1314
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/open_wine_bottle.py
@@ -0,0 +1,41 @@
+from typing import List
+import numpy as np
+from pyrep.objects.force_sensor import ForceSensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.conditions import JointCondition
+
+
+class OpenWineBottle(Task):
+
+    def init_task(self) -> None:
+        cap_detector = ProximitySensor("cap_detector")
+        self.joint = Joint('joint')
+        self.force_sensor = ForceSensor('Force_sensor')
+        self.cap = Shape('cap')
+        self.register_success_conditions(
+            [DetectedCondition(self.cap, cap_detector, negated=True)])
+        self.cap_turned_condition = JointCondition(
+            self.joint, np.deg2rad(150))
+
+    def init_episode(self, index: int) -> List[str]:
+        self.cap.set_parent(self.force_sensor)
+        self.cap_turned = False
+        return ['open wine bottle',
+                'screw open the wine bottle',
+                'unscrew the bottle cap then remove it from the wine bottle']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        if not self.cap_turned:
+            self.cap_turned = self.cap_turned_condition.condition_met()[0]
+            if self.cap_turned:
+                self.cap.set_parent(self.joint)
+
+    def cleanup(self):
+        self.cap.set_parent(self.force_sensor)
diff --git a/external/rlbench/rlbench/tasks/phone_on_base.py b/external/rlbench/rlbench/tasks/phone_on_base.py
new file mode 100644
index 0000000000000000000000000000000000000000..ed322fa3768ca08f7b3a8cda78a1501823de1944
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/phone_on_base.py
@@ -0,0 +1,29 @@
+from typing import List
+
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import Task
+
+
+class PhoneOnBase(Task):
+
+    def init_task(self) -> None:
+        phone = Shape('phone')
+        self.register_graspable_objects([phone])
+        self.register_success_conditions([
+            DetectedCondition(phone, ProximitySensor('success')),
+            NothingGrasped(self.robot.gripper)
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['put the phone on the base',
+                'put the phone on the stand',
+                'put the hone on the hub',
+                'grasp the phone and put it on the base',
+                'place the phone on the base',
+                'put the phone back on the base']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/pick_and_lift.py b/external/rlbench/rlbench/tasks/pick_and_lift.py
new file mode 100644
index 0000000000000000000000000000000000000000..842728f54ce7726a1529cb3edcfc2f190366d644
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/pick_and_lift.py
@@ -0,0 +1,58 @@
+from typing import List
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, ConditionSet, \
+    GraspedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.const import colors
+
+
+class PickAndLift(Task):
+
+    def init_task(self) -> None:
+        self.target_block = Shape('pick_and_lift_target')
+        self.distractors = [
+            Shape('stack_blocks_distractor%d' % i)
+            for i in range(2)]
+        self.register_graspable_objects([self.target_block])
+        self.boundary = SpawnBoundary([Shape('pick_and_lift_boundary')])
+        self.success_detector = ProximitySensor('pick_and_lift_success')
+
+        cond_set = ConditionSet([
+            GraspedCondition(self.robot.gripper, self.target_block),
+            DetectedCondition(self.target_block, self.success_detector)
+        ])
+        self.register_success_conditions([cond_set])
+
+    def init_episode(self, index: int) -> List[str]:
+
+        block_color_name, block_rgb = colors[index]
+        self.target_block.set_color(block_rgb)
+
+        color_choices = np.random.choice(
+            list(range(index)) + list(range(index + 1, len(colors))),
+            size=2, replace=False)
+        for i, ob in enumerate(self.distractors):
+            name, rgb = colors[color_choices[int(i)]]
+            ob.set_color(rgb)
+
+        self.boundary.clear()
+        self.boundary.sample(
+            self.success_detector, min_rotation=(0.0, 0.0, 0.0),
+            max_rotation=(0.0, 0.0, 0.0))
+        for block in [self.target_block] + self.distractors:
+            self.boundary.sample(block, min_distance=0.1)
+
+        return ['pick up the %s block and lift it up to the target' %
+                block_color_name,
+                'grasp the %s block to the target' % block_color_name,
+                'lift the %s block up to the target' % block_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def get_low_dim_state(self) -> np.ndarray:
+        # One of the few tasks that have a custom low_dim_state function.
+        return np.concatenate([self.target_block.get_position(), self.success_detector.get_position()], 0)
diff --git a/external/rlbench/rlbench/tasks/pick_and_lift_small.py b/external/rlbench/rlbench/tasks/pick_and_lift_small.py
new file mode 100644
index 0000000000000000000000000000000000000000..72885ad8d589b94ba06cfe512c158024e2b80782
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/pick_and_lift_small.py
@@ -0,0 +1,47 @@
+from typing import List
+from pyrep.objects import Dummy
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, ConditionSet, \
+    GraspedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+SHAPE_NAMES = ['cube', 'cylinder', 'triangular prism', 'star', 'moon']
+
+
+class PickAndLiftSmall(Task):
+
+    def init_task(self) -> None:
+        self._shapes = [Shape(ob.replace(' ', '_')) for ob in SHAPE_NAMES]
+        self._grasp_points = [
+            Dummy('%s_grasp_point' % ob.replace(' ', '_'))
+            for ob in SHAPE_NAMES]
+        self._w1 = Dummy('waypoint1')
+
+        self.register_graspable_objects(self._shapes)
+        self.boundary = SpawnBoundary([Shape('pick_and_lift_boundary')])
+        self.success_detector = ProximitySensor('pick_and_lift_success')
+
+    def init_episode(self, index: int) -> List[str]:
+        shape = self._shapes[index]
+        self.register_success_conditions([
+            GraspedCondition(self.robot.gripper, shape),
+            DetectedCondition(shape, self.success_detector)
+        ])
+        self.boundary.clear()
+        self.boundary.sample(
+            self.success_detector, min_rotation=(0.0, 0.0, 0.0),
+            max_rotation=(0.0, 0.0, 0.0))
+        for sh in self._shapes:
+            self.boundary.sample(sh, min_distance=0.1)
+
+        self._w1.set_pose(self._grasp_points[index].get_pose())
+
+        return ['pick up the %s and lift it up to the target' %
+                SHAPE_NAMES[index],
+                'grasp the blue %s to the target' % SHAPE_NAMES[index],
+                'lift the blue %s up to the target' % SHAPE_NAMES[index]]
+
+    def variation_count(self) -> int:
+        return len(SHAPE_NAMES)
diff --git a/external/rlbench/rlbench/tasks/pick_up_cup.py b/external/rlbench/rlbench/tasks/pick_up_cup.py
new file mode 100644
index 0000000000000000000000000000000000000000..8933604b9086e16a83abea92a5ac6abb54b8e3d0
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/pick_up_cup.py
@@ -0,0 +1,47 @@
+from typing import List
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.const import colors
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped, GraspedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+
+class PickUpCup(Task):
+
+    def init_task(self) -> None:
+        self.cup1 = Shape('cup1')
+        self.cup2 = Shape('cup2')
+        self.cup1_visual = Shape('cup1_visual')
+        self.cup2_visual = Shape('cup2_visual')
+        self.boundary = SpawnBoundary([Shape('boundary')])
+        self.success_sensor = ProximitySensor('success')
+        self.register_graspable_objects([self.cup1, self.cup2])
+        self.register_success_conditions([
+            DetectedCondition(self.cup1, self.success_sensor, negated=True),
+            GraspedCondition(self.robot.gripper, self.cup1),
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.variation_index = index
+        target_color_name, target_rgb = colors[index]
+
+        random_idx = np.random.choice(len(colors))
+        while random_idx == index:
+            random_idx = np.random.choice(len(colors))
+        _, other1_rgb = colors[random_idx]
+
+        self.cup1_visual.set_color(target_rgb)
+        self.cup2_visual.set_color(other1_rgb)
+
+        self.boundary.clear()
+        self.boundary.sample(self.cup2, min_distance=0.1)
+        self.boundary.sample(self.success_sensor, min_distance=0.1)
+
+        return ['pick up the %s cup' % target_color_name,
+                'grasp the %s cup and lift it' % target_color_name,
+                'lift the %s cup' % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
diff --git a/external/rlbench/rlbench/tasks/place_cups.py b/external/rlbench/rlbench/tasks/place_cups.py
new file mode 100644
index 0000000000000000000000000000000000000000..33597b7d2f4c0a4a455173c5bd818eb979f0602d
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/place_cups.py
@@ -0,0 +1,74 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped, \
+    OrConditions
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+
+
+class PlaceCups(Task):
+
+    def init_task(self) -> None:
+        self._cups = [Shape('mug%d' % i) for i in range(3)]
+        self._spokes = [Shape('place_cups_holder_spoke%d' % i) for i in
+                        range(3)]
+        self._cups_boundary = Shape('mug_boundary')
+        self._w1 = Dummy('waypoint1')
+        self._w5 = Dummy('waypoint5')
+        success_detectors = [
+            ProximitySensor('success_detector%d' % i) for i in range(3)]
+        self._on_peg_conditions = [OrConditions([
+            DetectedCondition(self._cups[ci], success_detectors[sdi]) for sdi in
+            range(3)]) for ci in range(3)]
+        self.register_graspable_objects(self._cups)
+        self._initial_relative_cup = self._w1.get_pose(self._cups[0])
+        self._initial_relative_spoke = self._w5.get_pose(self._spokes[0])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._cups_placed = 0
+        self._index = index
+        b = SpawnBoundary([self._cups_boundary])
+        [b.sample(c, min_distance=0.10) for c in self._cups]
+        success_conditions = [NothingGrasped(self.robot.gripper)
+                              ] + self._on_peg_conditions[:index + 1]
+        self.register_success_conditions(success_conditions)
+        self.register_waypoint_ability_start(
+            0, self._move_above_next_target)
+        self.register_waypoints_should_repeat(self._repeat)
+
+        if index == 0:
+            return ['place 1 cup on the cup holder',
+                    'pick up one cup and put it on the mug tree',
+                    'move 1 mug from the table to the cup holder',
+                    'pick up one cup and slide its handle onto a spoke on the '
+                    'mug holder']
+        else:
+            return ['place %d cups on the cup holder' % (index + 1),
+                    'pick up %d cups and place them on the holder'
+                    % (index + 1),
+                    'move %d cups from the table to the mug tree'
+                    % (index + 1),
+                    'pick up %d mugs and slide their handles onto the cup '
+                    'holder spokes' % (index + 1)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def _move_above_next_target(self, waypoint):
+        self._w1.set_parent(self._cups[self._cups_placed])
+        self._w5.set_pose(
+            self._initial_relative_spoke,
+            relative_to=self._spokes[self._cups_placed])
+        self._w1.set_pose(
+            self._initial_relative_cup,
+            relative_to=self._cups[self._cups_placed])
+        self._cups_placed += 1
+
+    def _repeat(self):
+        return self._cups_placed < self._index + 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -np.pi / 2], [0.0, 0.0, np.pi / 2]
diff --git a/external/rlbench/rlbench/tasks/place_hanger_on_rack.py b/external/rlbench/rlbench/tasks/place_hanger_on_rack.py
new file mode 100644
index 0000000000000000000000000000000000000000..a1d12763a1340c5c8748e4fbe67fa46421985bfd
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/place_hanger_on_rack.py
@@ -0,0 +1,34 @@
+from typing import List
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+
+class PlaceHangerOnRack(Task):
+
+    def init_task(self) -> None:
+        self.hanger_holder = Shape('hanger_holder')
+        hanger = Shape('clothes_hanger')
+        success_detector = ProximitySensor('success_detector0')
+        self.register_success_conditions([
+            NothingGrasped(self.robot.gripper),
+            DetectedCondition(hanger, success_detector)
+        ])
+        self.register_graspable_objects([hanger])
+        self.workspace_boundary = SpawnBoundary([Shape('workspace')])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.workspace_boundary.clear()
+        self.workspace_boundary.sample(self.hanger_holder)
+        return ['pick up the hanger and place in on the rack'
+                'put the hanger on the rack',
+                'hang the hanger up',
+                'grasp the hanger and hang it up']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def is_static_workspace(self) -> bool:
+        return True
diff --git a/external/rlbench/rlbench/tasks/place_shape_in_shape_sorter.py b/external/rlbench/rlbench/tasks/place_shape_in_shape_sorter.py
new file mode 100644
index 0000000000000000000000000000000000000000..ff331526e548929dda057d5bb675ccef835e614e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/place_shape_in_shape_sorter.py
@@ -0,0 +1,55 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import DetectedCondition
+
+SHAPE_NAMES = ['cube', 'cylinder', 'triangular prism', 'star', 'moon']
+
+
+class PlaceShapeInShapeSorter(Task):
+
+    def init_task(self) -> None:
+        self.shape_sorter = Shape('shape_sorter')
+        self.success_sensor = ProximitySensor('success')
+        self.shapes = [Shape(ob.replace(' ', '_')) for ob in SHAPE_NAMES]
+        self.drop_points = [
+            Dummy('%s_drop_point' % ob.replace(' ', '_'))
+            for ob in SHAPE_NAMES]
+        self.grasp_points = [
+            Dummy('%s_grasp_point' % ob.replace(' ', '_'))
+            for ob in SHAPE_NAMES]
+        self.waypoint1 = Dummy('waypoint1')
+        self.waypoint4 = Dummy('waypoint4')
+        self.register_graspable_objects(self.shapes)
+
+        self.register_waypoint_ability_start(0, self._set_grasp)
+        self.register_waypoint_ability_start(3, self._set_drop)
+        self.boundary = SpawnBoundary([Shape('boundary')])
+
+    def init_episode(self, index) -> List[str]:
+        self.variation_index = index
+        shape = SHAPE_NAMES[index]
+        self.register_success_conditions(
+            [DetectedCondition(self.shapes[index], self.success_sensor)])
+
+        self.boundary.clear()
+        [self.boundary.sample(s, min_distance=0.05) for s in self.shapes]
+
+        return ['put the %s in the shape sorter' % shape,
+                'pick up the %s and put it in the sorter' % shape,
+                'place the %s into its slot in the shape sorter' % shape,
+                'slot the %s into the shape sorter' % shape]
+
+    def variation_count(self) -> int:
+        return len(SHAPE_NAMES)
+
+    def _set_grasp(self, _):
+        gp = self.grasp_points[self.variation_index]
+        self.waypoint1.set_pose(gp.get_pose())
+
+    def _set_drop(self, _):
+        dp = self.drop_points[self.variation_index]
+        self.waypoint4.set_pose(dp.get_pose())
diff --git a/external/rlbench/rlbench/tasks/place_wine_at_rack_location.py b/external/rlbench/rlbench/tasks/place_wine_at_rack_location.py
new file mode 100644
index 0000000000000000000000000000000000000000..893be3400084b026f48b9f9578d1c59732436eef
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/place_wine_at_rack_location.py
@@ -0,0 +1,66 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class PlaceWineAtRackLocation(Task):
+
+    def init_task(self):
+        self.wine_bottle = Shape('wine_bottle')
+        self.register_graspable_objects([self.wine_bottle])
+
+        self.locations = ['middle', 'left', 'right']
+
+        self.register_waypoint_ability_start(3, self._move_to_rack)
+        
+        self.register_waypoint_ability_start(5, self._is_last)
+        self.register_waypoint_ability_start(6, self._is_last)
+        self.register_waypoint_ability_start(7, self._is_last)
+        self.register_waypoint_ability_start(8, self._is_last)
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        location = self.locations[self._variation_index]
+        self.register_success_conditions(
+            [DetectedCondition(self.wine_bottle, 
+                ProximitySensor(f'success_{location}')),
+            NothingGrasped(self.robot.gripper)])
+
+        return ['stack the wine bottle to the %s of the rack' % (location),
+                'slide the bottle onto the %s part of the rack' % (location),
+                'put the wine on the %s' % (location),
+                'leave the wine on the %s section of the shelf' % (location),
+                'grasp the bottle and put it away on the %s' % (location)]
+    
+    def _move_to_rack(self, _):
+        next1, next2 = Dummy('waypoint3'), Dummy('waypoint4')
+        left1, left2 = Dummy('waypoint5'), Dummy('waypoint6')
+        right1, right2 = Dummy('waypoint7'), Dummy('waypoint8')
+        
+        if self._variation_index == 1:
+            next1.set_position(left1.get_position())
+            next1.set_orientation(left1.get_orientation())
+
+            next2.set_position(left2.get_position())
+            next2.set_orientation(left2.get_orientation())
+        elif self._variation_index == 2:
+            next1.set_position(right1.get_position())
+            next1.set_orientation(right1.get_orientation())
+
+            next2.set_position(right2.get_position())
+            next2.set_orientation(right2.get_orientation())
+
+
+    def _is_last(self, waypoint):
+        waypoint.skip = True
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4.], [0, 0, np.pi / 4.]
diff --git a/external/rlbench/rlbench/tasks/play_jenga.py b/external/rlbench/rlbench/tasks/play_jenga.py
new file mode 100644
index 0000000000000000000000000000000000000000..cb94f9508594d73623164188283ee5dc08b7a097
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/play_jenga.py
@@ -0,0 +1,36 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import Task
+
+
+class PlayJenga(Task):
+
+    def init_task(self) -> None:
+        target = Shape('target_cuboid')
+        original_detector = ProximitySensor('original_detector')
+        bricks = [Shape('Cuboid%d' % i) for i in range(13)]
+        conds = [DetectedCondition(b, original_detector) for b in bricks]
+        conds.extend([
+            DetectedCondition(target, original_detector, negated=True),
+            NothingGrasped(self.robot.gripper)
+        ])
+        self.register_success_conditions(conds)
+        self.register_graspable_objects([target])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['play jenga'
+                'Take the protruding block out of the jenga tower without the '
+                'tower toppling',
+                'Keeping the tower from tumbling, remove the protruding '
+                'jenga block',
+                'Ensuring the jenga tower remains in place, slide the '
+                'protruding block out']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/plug_charger_in_power_supply.py b/external/rlbench/rlbench/tasks/plug_charger_in_power_supply.py
new file mode 100644
index 0000000000000000000000000000000000000000..8b820bb3392b6cafcd819b4222c32f6b0be4b249
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/plug_charger_in_power_supply.py
@@ -0,0 +1,39 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+
+class PlugChargerInPowerSupply(Task):
+
+    def init_task(self) -> None:
+        sensor_right_hole = ProximitySensor('sensor1')
+        sensor_left_hole = ProximitySensor('sensor2')
+        charger = Shape('charger')
+        self.charger_base = Dummy('charger_base')
+        charger_right_stick = Shape('detector1')
+        charger_left_stick = Shape('detector2')
+        self.boundary = SpawnBoundary([Shape('charger_boundary')])
+        self.register_graspable_objects([charger])
+        self.register_success_conditions(
+            [DetectedCondition(charger_right_stick, sensor_right_hole),
+             DetectedCondition(charger_left_stick, sensor_left_hole),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.boundary.clear()
+        self.boundary.sample(self.charger_base)
+        return ['plug charger in power supply',
+                'pick up the charger and plug in it',
+                'plug the charger into the mains',
+                'lift the charger up to the wall and plug it in',
+                'plug the charger into the wall']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
diff --git a/external/rlbench/rlbench/tasks/pour_from_cup_to_cup.py b/external/rlbench/rlbench/tasks/pour_from_cup_to_cup.py
new file mode 100644
index 0000000000000000000000000000000000000000..090db8c2b9a4d282d63066e96cb93ec1b52944f4
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/pour_from_cup_to_cup.py
@@ -0,0 +1,88 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.const import PrimitiveShape
+from rlbench.const import colors
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, ConditionSet
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+LIQUID_BALLS = 20
+
+
+class PourFromCupToCup(Task):
+
+    def init_task(self) -> None:
+        self.drops = []
+        self.cup_target_base = Dummy('cup_target_base')
+        self.cup_source = Shape('cup_source')
+        self.cup_target = Shape('cup_target')
+        self.cup_source_visual = Shape('cup_source_visual')
+        self.cup_target_visual = Shape('cup_target_visual')
+
+        self.distractors = [Shape('cup_distractor%d' % i) for i in range(3)]
+        self.distractors_vis = [Shape('cup_distractor_visual%d' % i)
+                                for i in range(3)]
+
+        self.success_detector = ProximitySensor('success')
+        self.register_graspable_objects([self.cup_source])
+
+    def init_episode(self, index: int) -> List[str]:
+        target_index = (index + 1) % self.variation_count()
+        source_name, source_rgb = colors[index]
+        target_name, target_rgb = colors[target_index]
+
+        self.cup_source_visual.set_color(source_rgb)
+        self.cup_target_visual.set_color(target_rgb)
+
+        options = (list(range(index)) + list(range(index + 1, len(colors))))
+        options.remove(target_index)
+
+        color_choices = np.random.choice(options, size=3, replace=False)
+        for obj, color_index in zip(self.distractors_vis, color_choices):
+            _, rgb = colors[color_index]
+            obj.set_color(rgb)
+
+        b = SpawnBoundary([Shape('boundary')])
+        b.sample(self.cup_source, min_distance=0.12)
+        b.sample(self.cup_target, min_distance=0.12)
+        [b.sample(d, min_distance=0.12) for d in self.distractors]
+
+        # Make the waypoints always be the same orientation
+        self.cup_target_base.set_orientation([0.] * 3)
+
+        self.drops = []
+        conditions = []
+        for i in range(LIQUID_BALLS):
+            drop = Shape.create(PrimitiveShape.SPHERE, mass=0.0001,
+                                size=[0.005, 0.005, 0.005])
+            drop.set_parent(self.cup_source)
+            drop.set_color([0.1, 0.1, 0.9])
+            drop.set_position(list(np.random.normal(0, 0.0005, size=(3,))),
+                              relative_to=self.cup_source)
+            self.drops.append(drop)
+            conditions.append(DetectedCondition(drop, self.success_detector))
+        self.register_success_conditions([ConditionSet(conditions)])
+
+        return [
+            'pour liquid from the %s cup to the %s cup' % (
+                source_name, target_name),
+            'pour liquid from the %s mug to the %s mug' % (
+                source_name, target_name),
+            'pour the contents of the %s mug into the %s one' % (
+                source_name, target_name),
+            'pick up the %s cup and pour the liquid into the %s one' % (
+                source_name, target_name)]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, 0], [0, 0, 0]
+
+    def cleanup(self) -> None:
+        for d in self.drops:
+            d.remove()
+        self.drops.clear()
diff --git a/external/rlbench/rlbench/tasks/press_switch.py b/external/rlbench/rlbench/tasks/press_switch.py
new file mode 100644
index 0000000000000000000000000000000000000000..8b58d3bcc9c7ba3101da89c5d591830615fb6c2e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/press_switch.py
@@ -0,0 +1,19 @@
+from typing import List
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition
+
+
+class PressSwitch(Task):
+
+    def init_task(self) -> None:
+        switch_joint = Joint('joint')
+        self.register_success_conditions([JointCondition(switch_joint, 1.0)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['press switch',
+                'turn the switch on or off',
+                'flick the switch']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/push_button.py b/external/rlbench/rlbench/tasks/push_button.py
new file mode 100644
index 0000000000000000000000000000000000000000..9ba1afa22af258d9a0ddb9aa90027873f30955a3
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/push_button.py
@@ -0,0 +1,61 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition,ConditionSet
+
+# button top plate and wrapper will be be red before task completion
+# and be changed to cyan upon success of task, so colors list used to randomly vary colors of
+# base block will be redefined, excluding red and green
+colors = [
+    ('maroon', (0.5, 0.0, 0.0)),
+    ('green', (0.0, 0.5, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('navy', (0.0, 0.0, 0.5)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    ('cyan', (0.0, 1.0, 1.0)),
+    ('magenta', (1.0, 0.0, 1.0)),
+    ('silver', (0.75, 0.75, 0.75)),
+    ('gray', (0.5, 0.5, 0.5)),
+    ('orange', (1.0, 0.5, 0.0)),
+    ('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    ('teal', (0, 0.5, 0.5)),
+    ('azure', (0.0, 0.5, 1.0)),
+    ('violet', (0.5, 0.0, 1.0)),
+    ('rose', (1.0, 0.0, 0.5)),
+    ('black', (0.0, 0.0, 0.0)),
+    ('white', (1.0, 1.0, 1.0)),
+]
+
+
+class PushButton(Task):
+
+    def init_task(self):
+        self.target_button = Shape('push_button_target')
+        self.target_topPlate = Shape('target_button_topPlate')
+        self.joint = Joint('target_button_joint')
+        self.target_wrap = Shape('target_button_wrap')
+        self.goal_condition = JointCondition(self.joint, 0.003)
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        self.target_topPlate.set_color([1.0, 0.0, 0.0])
+        self.target_wrap.set_color([1.0, 0.0, 0.0])
+        self.variation_index = index
+        button_color_name, button_rgb = colors[index]
+        self.target_button.set_color(button_rgb)
+        self.register_success_conditions(
+            [ConditionSet([self.goal_condition], True, False)])
+        return ['push the %s button' % button_color_name,
+                'push down the %s button' % button_color_name,
+                'press the button with the %s base' % button_color_name,
+                'press the %s button' % button_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def step(self) -> None:
+        if self.goal_condition.condition_met() == (True, True):
+            self.target_topPlate.set_color([0.0, 1.0, 0.0])
+            self.target_wrap.set_color([0.0, 1.0, 0.0])
diff --git a/external/rlbench/rlbench/tasks/push_buttons.py b/external/rlbench/rlbench/tasks/push_buttons.py
new file mode 100644
index 0000000000000000000000000000000000000000..9b5ba3b8a8bb62d9d8682f112c99cb115c7fb141
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/push_buttons.py
@@ -0,0 +1,167 @@
+from typing import List
+import itertools
+import math
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import JointCondition, ConditionSet
+
+MAX_TARGET_BUTTONS = 3
+MAX_VARIATIONS = 50
+
+# button top plate and wrapper will be be red before task completion
+# and be changed to cyan upon success of task, so colors list used to randomly vary colors of
+# base block will be redefined, excluding red and green
+colors = [
+    ('maroon', (0.5, 0.0, 0.0)),
+    ('green', (0.0, 0.5, 0.0)),
+    ('blue', (0.0, 0.0, 1.0)),
+    ('navy', (0.0, 0.0, 0.5)),
+    ('yellow', (1.0, 1.0, 0.0)),
+    ('cyan', (0.0, 1.0, 1.0)),
+    ('magenta', (1.0, 0.0, 1.0)),
+    ('silver', (0.75, 0.75, 0.75)),
+    ('gray', (0.5, 0.5, 0.5)),
+    ('orange', (1.0, 0.5, 0.0)),
+    ('olive', (0.5, 0.5, 0.0)),
+    ('purple', (0.5, 0.0, 0.5)),
+    ('teal', (0, 0.5, 0.5)),
+    ('azure', (0.0, 0.5, 1.0)),
+    ('violet', (0.5, 0.0, 1.0)),
+    ('rose', (1.0, 0.0, 0.5)),
+    ('black', (0.0, 0.0, 0.0)),
+    ('white', (1.0, 1.0, 1.0)),
+]
+
+color_permutations = list(itertools.permutations(colors, 3))
+
+
+def print_permutations(color_permutations):
+    # pretty printing color_permutations for debug
+    print('num permutations: ', str(len(color_permutations)))
+    print('color_permutations:\n')
+    for i in range(len(color_permutations)):
+        print(str(color_permutations[i]))
+        if ((i + 1) % 16 == 0): print('')
+
+
+class PushButtons(Task):
+
+    def init_task(self) -> None:
+        self.buttons_pushed = 0
+        self.color_variation_index = 0
+        self.target_buttons = [Shape('push_buttons_target%d' % i)
+                               for i in range(3)]
+        self.target_topPlates = [Shape('target_button_topPlate%d' % i)
+                                 for i in range(3)]
+        self.target_joints = [Joint('target_button_joint%d' % i)
+                              for i in range(3)]
+        self.target_wraps = [Shape('target_button_wrap%d' % i)
+                             for i in range(3)]
+        self.boundaries = Shape('push_buttons_boundary')
+        # goal_conditions merely state joint conditions for push action for
+        # each button regardless of whether the task involves pushing it
+        self.goal_conditions = [JointCondition(self.target_joints[n], 0.001)
+                                for n in range(3)]
+
+        self.register_waypoint_ability_start(0, self._move_above_next_target)
+        self.register_waypoints_should_repeat(self._repeat)
+
+    def init_episode(self, index: int) -> List[str]:
+        for tp in self.target_topPlates:
+            tp.set_color([1.0, 0.0, 0.0])
+        for w in self.target_wraps:
+            w.set_color([1.0, 0.0, 0.0])
+        # For each color permutation, we want to have 1, 2 or 3 buttons pushed
+        color_index = int(index / MAX_TARGET_BUTTONS)
+        self.buttons_to_push = 1 + index % MAX_TARGET_BUTTONS
+        button_colors = color_permutations[color_index]
+
+        self.color_names = []
+        self.color_rgbs = []
+        self.chosen_colors = []
+        i = 0
+        for b in self.target_buttons:
+            color_name, color_rgb = button_colors[i]
+            self.color_names.append(color_name)
+            self.color_rgbs.append(color_rgb)
+            self.chosen_colors.append((color_name, color_rgb))
+            b.set_color(color_rgb)
+            i += 1
+
+        # for task success, all button to push must have green color RGB
+        self.success_conditions = []
+        for i in range(self.buttons_to_push):
+            self.success_conditions.append(self.goal_conditions[i])
+
+        self.register_success_conditions(
+            [ConditionSet(self.success_conditions, True, False)])
+
+        rtn0 = 'push the %s button' % self.color_names[0]
+        rtn1 = 'press the %s button' % self.color_names[0]
+        rtn2 = 'push down the button with the %s base' % self.color_names[0]
+        for i in range(self.buttons_to_push):
+            if i == 0:
+                continue
+            else:
+                rtn0 += ', then push the %s button' % self.color_names[i]
+                rtn1 += ', then press the %s button' % self.color_names[i]
+                rtn2 += ', then the %s one' % self.color_names[i]
+
+        b = SpawnBoundary([self.boundaries])
+        for button in self.target_buttons:
+            b.sample(button, min_distance=0.1)
+
+        num_non_targets = 3 - self.buttons_to_push
+        spare_colors = list(set(colors)
+                            - set(
+            [self.chosen_colors[i] for i in range(self.buttons_to_push)]))
+
+        spare_color_rgbs = []
+        for i in range(len(spare_colors)):
+            _, rgb = spare_colors[i]
+            spare_color_rgbs.append(rgb)
+
+        color_choice_indexes = np.random.choice(range(len(spare_colors)),
+                                                size=num_non_targets,
+                                                replace=False)
+        non_target_index = 0
+        for i, button in enumerate(self.target_buttons):
+            if i in range(self.buttons_to_push):
+                pass
+            else:
+                _, rgb = spare_colors[color_choice_indexes[non_target_index]]
+                button.set_color(rgb)
+                non_target_index += 1
+
+        return [rtn0, rtn1, rtn2]
+
+    def variation_count(self) -> int:
+        return np.minimum(
+            len(color_permutations) * MAX_TARGET_BUTTONS, MAX_VARIATIONS)
+
+    def step(self) -> None:
+        for i in range(len(self.target_buttons)):
+            if self.goal_conditions[i].condition_met() == (True, True):
+                self.target_topPlates[i].set_color([0.0, 1.0, 0.0])
+                self.target_wraps[i].set_color([0.0, 1.0, 0.0])
+
+    def cleanup(self) -> None:
+        self.buttons_pushed = 0
+
+    def _move_above_next_target(self, waypoint):
+        if self.buttons_pushed >= self.buttons_to_push:
+            print('buttons_pushed:', self.buttons_pushed, 'buttons_to_push:',
+                  self.buttons_to_push)
+            raise RuntimeError('Should not be here.')
+        w0 = Dummy('waypoint0')
+        x, y, z = self.target_buttons[self.buttons_pushed].get_position()
+        w0.set_position([x, y, z + 0.083])
+        w0.set_orientation([math.pi, 0, math.pi])
+
+    def _repeat(self):
+        self.buttons_pushed += 1
+        return self.buttons_pushed < self.buttons_to_push
diff --git a/external/rlbench/rlbench/tasks/put_all_groceries_in_cupboard.py b/external/rlbench/rlbench/tasks/put_all_groceries_in_cupboard.py
new file mode 100644
index 0000000000000000000000000000000000000000..5e96e6e1b90696495d8528e40f741532b5054ca8
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_all_groceries_in_cupboard.py
@@ -0,0 +1,79 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped, \
+    DetectedSeveralCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+GROCERY_NAMES = [
+    'crackers',
+    'chocolate jello',
+    'strawberry jello',
+    'soup',
+    'spam',
+    'mustard',
+    'sugar',
+]
+
+
+class PutAllGroceriesInCupboard(Task):
+
+    def init_task(self) -> None:
+        self.groceries = [Shape(name.replace(' ', '_'))
+                          for name in GROCERY_NAMES]
+        self.grasp_points = [Dummy('%s_grasp_point' % name.replace(' ', '_'))
+                             for name in GROCERY_NAMES]
+        self.goals = [Dummy('goal_%s' % name.replace(' ', '_'))
+                      for name in GROCERY_NAMES]
+        self.waypoint1 = Dummy('waypoint1')
+        self.waypoint3 = Dummy('waypoint3')
+        self.register_graspable_objects(self.groceries)
+        self.boundary = SpawnBoundary([Shape('groceries_boundary')])
+
+        self.register_waypoint_ability_start(0, self._move_to_next_target)
+        self.register_waypoint_ability_start(3, self._move_to_drop_zone)
+        self.register_waypoints_should_repeat(self._repeat)
+        self.groceries_to_place = len(GROCERY_NAMES)
+        self.groceries_placed = 0
+
+    def init_episode(self, index: int) -> List[str]:
+        self.groceries_placed = 0
+        self.boundary.clear()
+        [self.boundary.sample(g, min_distance=0.15) for g in self.groceries]
+
+        self.register_success_conditions(
+            [DetectedSeveralCondition(
+                self.groceries[:self.groceries_to_place],
+                ProximitySensor('success'), self.groceries_to_place),
+             NothingGrasped(self.robot.gripper)])
+        return ['put all of the groceries in the cupboard',
+                'pick up all of the groceries and place them in the cupboard',
+                'move the groceries to the shelves',
+                'put the groceries on the table into the cupboard',
+                'put away the groceries in the cupboard']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
+
+    def is_static_workspace(self) -> bool:
+        return True
+
+    def _move_to_next_target(self, _):
+        if self.groceries_placed >= self.groceries_to_place:
+            raise RuntimeError('Should not be here.')
+        self.waypoint1.set_pose(
+            self.grasp_points[self.groceries_placed].get_pose())
+
+    def _move_to_drop_zone(self, _):
+        self.waypoint3.set_pose(
+            self.goals[self.groceries_placed].get_pose())
+
+    def _repeat(self):
+        self.groceries_placed += 1
+        return self.groceries_placed < self.groceries_to_place
\ No newline at end of file
diff --git a/external/rlbench/rlbench/tasks/put_books_at_shelf_location.py b/external/rlbench/rlbench/tasks/put_books_at_shelf_location.py
new file mode 100644
index 0000000000000000000000000000000000000000..a65a8a2251d8b27bab7fbe7f0e5ef74c91c56587
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_books_at_shelf_location.py
@@ -0,0 +1,84 @@
+from typing import List, Tuple
+
+from pyrep.objects import Dummy
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class PutBooksAtShelfLocation(Task):
+
+    def init_task(self) -> None:
+        # self._success_sensor_top = ProximitySensor('success_top')
+        # self._success_sensor_bottom = ProximitySensor('success_bottom')
+        self._books = [Shape('book2'), Shape('book1'), Shape('book0')]
+        self._waypoints_idxs = [5, 11, -1]
+        self.register_graspable_objects(self._books)
+
+        self._book2_waypoints = [Dummy('waypoint%d' % i) for i in [3, 4, 5]]
+        self._book1_waypoints = [Dummy('waypoint%d' % i) for i in [9, 10, 11]]
+        self._book0_waypoints = [Dummy('waypoint%d' % i) for i in [15, 16]]
+
+        self._variations = {
+            0: {
+                'seq': ['top_left', 'top_middle', 'top_right'],
+                'success': ['success_top', 'success_top', 'success_top'],
+                'lang': "put all books on the top shelf"
+            },
+            1: {
+                'seq': ['top_left', 'bottom_middle', 'top_right'],
+                'success': ['success_top', 'success_bottom', 'success_top'],
+                'lang': "put one book at the bottom and two books on the top"
+            },
+            2: {
+                'seq': ['top_left', 'bottom_middle', 'bottom_right'],
+                'success': ['success_top', 'success_bottom', 'success_bottom'],
+                'lang': "put one book at the top and two books at the bottom"
+            },
+            3: {
+                'seq': ['bottom_left', 'bottom_middle', 'bottom_right'],
+                'success': ['success_bottom', 'success_bottom', 'success_bottom'],
+                'lang': "put all books on the bottom shelf"
+            },
+        }
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        setup = self._variations[self._variation_index]
+
+        # success condition
+        success_conditions = []
+        for book_idx, book in enumerate(self._books):
+            success_conditions.append(
+            DetectedCondition(
+                book, ProximitySensor(setup['success'][book_idx])
+                )
+            )
+
+        # waypoints
+        for idx, w in enumerate(self._book2_waypoints):
+            w.set_pose(Dummy("%s_%d" % (setup['seq'][0], idx+1)).get_pose())
+        for idx, w in enumerate(self._book1_waypoints):
+            w.set_pose(Dummy("%s_%d" % (setup['seq'][1], idx+1)).get_pose())
+        for idx, w in enumerate(self._book0_waypoints):
+            w.set_pose(Dummy("%s_%d" % (setup['seq'][2], idx+1)).get_pose())
+
+
+        # language instruction
+        return [setup['lang']]
+
+        # self.register_success_conditions([
+        #     DetectedCondition(
+        #         b, self._success_sensor) for b in self._books[:index+1]
+        # ])
+        # self.register_stop_at_waypoint(self._waypoints_idxs[index])
+        # return ['put %d books on bookshelf' % (index + 1),
+        #         'pick up %d books and place them on the top shelf' % (index + 1),
+        #         'stack %d books up on the top shelf' % (index + 1)]
+
+    def variation_count(self) -> int:
+        return 4
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -3.14/2], [0.0, 0.0, 3.14/2]
diff --git a/external/rlbench/rlbench/tasks/put_books_on_bookshelf.py b/external/rlbench/rlbench/tasks/put_books_on_bookshelf.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b39d44662924a1a2a786c1bf55c49060a5e00ac
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_books_on_bookshelf.py
@@ -0,0 +1,32 @@
+from typing import List, Tuple
+
+from pyrep.objects import Dummy
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class PutBooksOnBookshelf(Task):
+
+    def init_task(self) -> None:
+        self._success_sensor = ProximitySensor('success')
+        self._books = [Shape('book2'), Shape('book1'), Shape('book0')]
+        self._waypoints_idxs = [5, 11, -1]
+        self.register_graspable_objects(self._books)
+
+    def init_episode(self, index: int) -> List[str]:
+        self.register_success_conditions([
+            DetectedCondition(
+                b, self._success_sensor) for b in self._books[:index+1]
+        ])
+        self.register_stop_at_waypoint(self._waypoints_idxs[index])
+        return ['put %d books on bookshelf' % (index + 1),
+                'pick up %d books and place them on the top shelf' % (index + 1),
+                'stack %d books up on the top shelf' % (index + 1)]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -3.14/2], [0.0, 0.0, 3.14/2]
diff --git a/external/rlbench/rlbench/tasks/put_bottle_in_fridge.py b/external/rlbench/rlbench/tasks/put_bottle_in_fridge.py
new file mode 100644
index 0000000000000000000000000000000000000000..0b68099012adecd2fad0238147a1cedcd72293bf
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_bottle_in_fridge.py
@@ -0,0 +1,34 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import Task
+
+
+class PutBottleInFridge(Task):
+
+    def init_task(self) -> None:
+        bottle = Shape('bottle')
+        self.register_graspable_objects([bottle])
+        self.register_success_conditions(
+            [DetectedCondition(bottle, ProximitySensor('success')),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['put bottle in fridge',
+                'place the bottle inside the fridge',
+                'open the fridge and put the bottle in there',
+                'open the fridge door, pick up the bottle, and leave it in the '
+                'fridge']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def boundary_root(self) -> Object:
+        return Shape('fridge_root')
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 4), (0.0, 0.0, np.pi / 4)
diff --git a/external/rlbench/rlbench/tasks/put_groceries_in_cupboard.py b/external/rlbench/rlbench/tasks/put_groceries_in_cupboard.py
new file mode 100644
index 0000000000000000000000000000000000000000..7325b3fa91c07da3fe1c6faff07971b1868de05a
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_groceries_in_cupboard.py
@@ -0,0 +1,57 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+GROCERY_NAMES = [
+    'crackers',
+    'chocolate jello',
+    'strawberry jello',
+    'soup',
+    'tuna',
+    'spam',
+    'coffee',
+    'mustard',
+    'sugar',
+]
+
+
+class PutGroceriesInCupboard(Task):
+
+    def init_task(self) -> None:
+        self.groceries = [Shape(name.replace(' ', '_'))
+                          for name in GROCERY_NAMES]
+        self.grasp_points = [Dummy('%s_grasp_point' % name.replace(' ', '_'))
+                             for name in GROCERY_NAMES]
+        self.waypoint1 = Dummy('waypoint1')
+        self.register_graspable_objects(self.groceries)
+        self.boundary = SpawnBoundary([Shape('workspace')])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.boundary.clear()
+        [self.boundary.sample(g, min_distance=0.1) for g in self.groceries]
+        self.waypoint1.set_pose(self.grasp_points[index].get_pose())
+        self.register_success_conditions(
+            [DetectedCondition(self.groceries[index],
+                               ProximitySensor('success')),
+             NothingGrasped(self.robot.gripper)])
+        return ['put the %s in the cupboard' % GROCERY_NAMES[index],
+                'pick up the %s and place it in the cupboard'
+                % GROCERY_NAMES[index],
+                'move the %s to the bottom shelf' % GROCERY_NAMES[index],
+                'put away the %s in the cupboard' % GROCERY_NAMES[index]]
+
+    def variation_count(self) -> int:
+        return len(GROCERY_NAMES)
+
+    def boundary_root(self) -> Object:
+        return Shape('boundary_root')
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -1.), (0.0, 0.0, 1.)
+
diff --git a/external/rlbench/rlbench/tasks/put_item_in_drawer.py b/external/rlbench/rlbench/tasks/put_item_in_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..31e28c6d864bc7ad2b5ad43d457cc55cf6ddf109
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_item_in_drawer.py
@@ -0,0 +1,40 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+
+
+class PutItemInDrawer(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint2')
+        self._item = Shape('item')
+        self.register_graspable_objects([self._item])
+
+    def init_episode(self, index) -> List[str]:
+        option = self._options[index]
+        anchor = self._anchors[index]
+        self._waypoint1.set_position(anchor.get_position())
+        success_sensor = ProximitySensor('success_' + option)
+        self.register_success_conditions(
+            [DetectedCondition(self._item, success_sensor)])
+        return ['put the item in the %s drawer' % option,
+                'put the block away in the %s drawer' % option,
+                'open the %s drawer and place the block inside of it' % option,
+                'leave the block in the %s drawer' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/put_knife_in_knife_block.py b/external/rlbench/rlbench/tasks/put_knife_in_knife_block.py
new file mode 100644
index 0000000000000000000000000000000000000000..0265d621b53ba27ecd17634045aabc3f9af7b929
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_knife_in_knife_block.py
@@ -0,0 +1,43 @@
+from typing import List, Tuple
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import ConditionSet, DetectedCondition, \
+    NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+
+
+class PutKnifeInKnifeBlock(Task):
+
+    def init_task(self) -> None:
+        knife = Shape('knife')
+        self._knife_base = Dummy('knife_base')
+        self._knife_block = Shape('knife_block')
+        self._chopping_board = Shape('chopping_board')
+        self._boundary = SpawnBoundary([Shape('boundary')])
+        self._knife_bound = SpawnBoundary([Shape('knife_boundary')])
+        self.register_graspable_objects([knife])
+        self.register_success_conditions([
+            ConditionSet([
+                DetectedCondition(knife, ProximitySensor('success')),
+                NothingGrasped(self.robot.gripper)],
+                order_matters=True)])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._knife_bound.clear()
+        self._boundary.clear()
+        self._boundary.sample(self._knife_block)
+        self._boundary.sample(self._chopping_board)
+        self._knife_bound.sample(self._knife_base)
+        return ['put the knife in the knife block',
+                'slide the knife into its slot in the knife block',
+                'place the knife in the knife block',
+                'pick up the knife and leave it in its holder',
+                'move the knife from the chopping board to the holder']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, 0], [0, 0, 0]
diff --git a/external/rlbench/rlbench/tasks/put_knife_on_chopping_board.py b/external/rlbench/rlbench/tasks/put_knife_on_chopping_board.py
new file mode 100644
index 0000000000000000000000000000000000000000..d94b286fa4dac9e23fc34d96a849735fba5c4409
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_knife_on_chopping_board.py
@@ -0,0 +1,33 @@
+from typing import List
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import ConditionSet, DetectedCondition, \
+    NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+
+
+class PutKnifeOnChoppingBoard(Task):
+
+    def init_task(self) -> None:
+        knife = Shape('knife')
+        self._knife_block = Shape('knife_block')
+        self._boundary = SpawnBoundary([Shape('boundary')])
+        self.register_graspable_objects([knife])
+        self.register_success_conditions([
+            ConditionSet([DetectedCondition(knife, ProximitySensor('success')),
+                          NothingGrasped(self.robot.gripper)],
+                         order_matters=True)])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._boundary.clear()
+        self._boundary.sample(self._knife_block)
+        return ['put the knife on the chopping board',
+                'slide the knife out of the knife block and put it down on the '
+                'chopping board',
+                'place the knife on the chopping board',
+                'pick up the knife and leave it on the chopping board',
+                'move the knife from the holder to the chopping board']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/put_money_in_safe.py b/external/rlbench/rlbench/tasks/put_money_in_safe.py
new file mode 100644
index 0000000000000000000000000000000000000000..a1370ef56606aabb5adf5651e98be3ffd101b1c8
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_money_in_safe.py
@@ -0,0 +1,62 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+NUM_SHELVES_IN_SAFE = 3
+
+
+class PutMoneyInSafe(Task):
+
+    def init_task(self) -> None:
+        self.index_dic = {0: 'bottom', 1: 'middle', 2: 'top'}
+        self.money = Shape('dollar_stack')
+        self.money_boundary = Shape('dollar_stack_boundary')
+        self.register_graspable_objects([self.money])
+        self.success_conditions = [NothingGrasped(self.robot.gripper)]
+
+        self.w1_rel_pos = [-2.7287 * 10 ** (-4), -2.3246 * 10 ** (-6),
+                           +4.5627 * 10 ** (-2)]
+        self.w1_rel_ori = [-3.1416, 7.2824 * 10 ** (-1), -2.1265 * 10 ** (-2)]
+
+    def init_episode(self, index: int) -> List[str]:
+        self.target_shelf = index
+        w4 = Dummy('waypoint4')
+        target_dummy_name = 'dummy_shelf' + str(self.target_shelf)
+        target_pos_dummy = Dummy(target_dummy_name)
+        target_pos = target_pos_dummy.get_position()
+        w4.set_position(target_pos, reset_dynamics=False)
+
+        self.success_detector = ProximitySensor(
+            ('success_detector' + str(self.target_shelf))
+        )
+
+        while len(self.success_conditions) > 1:
+            self.success_conditions.pop()
+
+        self.success_conditions.append(
+            DetectedCondition(self.money, self.success_detector)
+        )
+        self.register_success_conditions(self.success_conditions)
+
+        b = SpawnBoundary([self.money_boundary])
+        b.sample(self.money,
+                 min_rotation=(0.00, 0.00, 0.00),
+                 max_rotation=(0.00, 0.00, +0.5 * np.pi))
+
+        return ['put the money away in the safe on the %s shelf'
+                % self.index_dic[index],
+                'leave the money on the %s shelf on the safe'
+                % self.index_dic[index],
+                'place the stack of bank notes on the %s shelf of the safe'
+                % self.index_dic[index]]
+
+    def variation_count(self) -> int:
+        return NUM_SHELVES_IN_SAFE
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, +0.5 * np.pi]
diff --git a/external/rlbench/rlbench/tasks/put_plate_in_colored_dish_rack.py b/external/rlbench/rlbench/tasks/put_plate_in_colored_dish_rack.py
new file mode 100644
index 0000000000000000000000000000000000000000..ecc1bac3a3e347319c77275ade9a849f72f56daa
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_plate_in_colored_dish_rack.py
@@ -0,0 +1,70 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import DetectedCondition, \
+    NothingGrasped, ConditionSet
+from rlbench.const import colors
+
+
+class PutPlateInColoredDishRack(Task):
+
+    def init_task(self) -> None:
+        plate = Shape('plate')
+        self.dish_rack = Shape('dish_rack')
+        self.plate_stand = Shape('plate_stand')
+        self.success_sensor = ProximitySensor('success')
+        self.success_poses = [Dummy('success_pos%d' % i)
+                              for i in range(3)]
+        self.pillars = [Shape('dish_rack_pillar%d' % i)
+                        for i in range(6)]
+
+        self.boundary = SpawnBoundary([Shape('boundary')])
+        self.register_graspable_objects([plate])
+        cond_set = ConditionSet([DetectedCondition(plate, self.success_sensor),
+                                 NothingGrasped(self.robot.gripper)],
+                                order_matters=True)
+        self.register_success_conditions([cond_set])
+
+    def init_episode(self, index: int) -> List[str]:
+        color_name, _ = colors[index]
+
+        shuffled_pillar_indexes = list(range(3))
+        np.random.shuffle(shuffled_pillar_indexes)
+
+        # Color the other spokes
+        color_choices = [index] + list(np.random.choice(
+            list(range(index)) + list(range(index + 1, len(colors))),
+            size=2, replace=False))
+        for pillar_i, color_i in zip(shuffled_pillar_indexes, color_choices):
+            _, rgb = colors[color_i]
+            self.pillars[pillar_i * 2].set_color(rgb)
+            self.pillars[1 + pillar_i * 2].set_color(rgb)
+
+        # Move the success detector to the correct spot
+        success_pos = self.success_poses[shuffled_pillar_indexes[0]]
+        self.success_sensor.set_position(success_pos.get_position())
+        self.success_sensor.set_orientation(success_pos.get_orientation())
+
+        self.boundary.clear()
+        self.boundary.sample(
+            self.plate_stand, min_rotation=(0, 0, 0.5),
+            max_rotation=(0, 0, 0.5))
+        self.boundary.sample(self.dish_rack, min_distance=0.2)
+
+        return ['put the plate between the %s pillars of the dish rack'#
+                % color_name,
+                'place the plate in the the %s section of the drying rack'
+                % color_name,
+                'pick up the plate and leave it between the %s spokes on the '
+                'dish rack' % color_name]
+
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, 0], [0, 0, 0]
diff --git a/external/rlbench/rlbench/tasks/put_rubbish_in_bin.py b/external/rlbench/rlbench/tasks/put_rubbish_in_bin.py
new file mode 100644
index 0000000000000000000000000000000000000000..5cb4077b63893e6b4466513b6203e6ed07f33d2f
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_rubbish_in_bin.py
@@ -0,0 +1,39 @@
+from typing import List
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+
+
+class PutRubbishInBin(Task):
+
+    def init_task(self):
+        success_sensor = ProximitySensor('success')
+        self.rubbish = Shape('rubbish')
+        self.register_graspable_objects([self.rubbish])
+        self.register_success_conditions(
+            [DetectedCondition(self.rubbish, success_sensor)])
+
+    def init_episode(self, index: int) -> List[str]:
+        tomato1 = Shape('tomato1')
+        tomato2 = Shape('tomato2')
+        x1, y1, z1 = tomato2.get_position()
+        x2, y2, z2 = self.rubbish.get_position()
+        x3, y3, z3 = tomato1.get_position()
+        pos = np.random.randint(3)
+        if pos == 0:
+            self.rubbish.set_position([x1, y1, z2])
+            tomato2.set_position([x2, y2, z1])
+        elif pos == 2:
+            self.rubbish.set_position([x3, y3, z2])
+            tomato1.set_position([x2, y2, z3])
+
+        return ['put rubbish in bin',
+                'drop the rubbish into the bin',
+                'pick up the rubbish and leave it in the trash can',
+                'throw away the trash, leaving any other objects alone',
+                'chuck way any rubbish on the table rubbish']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/put_rubbish_in_color_bin.py b/external/rlbench/rlbench/tasks/put_rubbish_in_color_bin.py
new file mode 100644
index 0000000000000000000000000000000000000000..b1bcbc62e17ecef6c03cbd073dffd3b31ab56e17
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_rubbish_in_color_bin.py
@@ -0,0 +1,68 @@
+from typing import List
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.const import colors
+
+
+class PutRubbishInColorBin(Task):
+
+    COLORS = [colors[0], colors[3]]
+
+    def init_task(self) -> None:
+        self.rubbish = Shape('rubbish')
+        self.register_graspable_objects([self.rubbish])
+
+        self.register_waypoint_ability_start(3, self._move_above_bin)
+        self.register_waypoint_ability_start(4, self._is_last)
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        success_sensor = ProximitySensor(f'success{self._variation_index+1}')
+        self.register_success_conditions(
+            [DetectedCondition(self.rubbish, success_sensor)])
+
+        self.main_bin = Shape(f'bin{self._variation_index+1}')
+        self.distractor_bin = Shape(f'bin{1 if self._variation_index+1 == 2 else 2}')
+
+        color_bulb = Shape('color_bulb')
+        color_name, color_rgb = self.COLORS[self._variation_index]
+        color_bulb.set_color(color_rgb)
+
+        x1, y1, z1 = color_bulb.get_position()
+        x2, y2, z2 = self.rubbish.get_position()
+        x3, y3, z3 = self.main_bin.get_position()
+        x4, y4, z4 = self.distractor_bin.get_position()
+        pos = np.random.randint(2)
+        if pos == 0:
+            self.main_bin.set_position([x4, y4, z4])
+            self.distractor_bin.set_position([x3, y3, z3])
+
+        return ['put rubbish in the bin with the same color as the light',
+                'drop the rubbish into the bin with the color of the light',
+                'pick up the trash and leave it in the bin with the same color as the light']
+
+    def variation_count(self) -> int:
+        return 2
+
+    def _move_above_bin(self, _):
+        w3 = Dummy('waypoint3')
+        w4 = Dummy('waypoint4')
+        
+        if self._variation_index == 1:
+            w3.set_position(w4.get_position())
+            w3.set_orientation(w4.get_orientation())
+
+    def _is_last(self, waypoint):
+        waypoint.skip = True
+
+    def step(self) -> None:
+        # Called during each sim step. Remove this if not using.
+        pass
+
+    def cleanup(self) -> None:
+        # Called during at the end of each episode. Remove this if not using.
+        pass
diff --git a/external/rlbench/rlbench/tasks/put_shoes_in_box.py b/external/rlbench/rlbench/tasks/put_shoes_in_box.py
new file mode 100644
index 0000000000000000000000000000000000000000..50001e56759e525a7e434ec635d9bbe724e6f65e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_shoes_in_box.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class PutShoesInBox(Task):
+
+    def init_task(self):
+        shoe1, shoe2 = Shape('shoe1'), Shape('shoe2')
+        self.register_graspable_objects([shoe1, shoe2])
+        success_sensor = ProximitySensor('success_in_box')
+        self.register_success_conditions([
+            DetectedCondition(shoe1, success_sensor),
+            DetectedCondition(shoe2, success_sensor),
+            NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['put the shoes in the box',
+                'open the box and place the shoes inside',
+                'open the box lid and put the shoes inside']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/put_toilet_roll_on_stand.py b/external/rlbench/rlbench/tasks/put_toilet_roll_on_stand.py
new file mode 100644
index 0000000000000000000000000000000000000000..12a444a83f6976c1d3e26fc3c95b7b9bf7ed7b9e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_toilet_roll_on_stand.py
@@ -0,0 +1,33 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+
+class PutToiletRollOnStand(Task):
+
+    def init_task(self) -> None:
+        roll = Shape('toilet_roll')
+        self.boundary_roll = SpawnBoundary([Shape('boundary_roll')])
+        self.boundary_stand = SpawnBoundary([Shape('boundary_stand')])
+        self.roll_box = Shape('toilet_roll_box')
+        self.stand_base = Shape('stand_base')
+        success_sensor = ProximitySensor('success')
+        self.register_graspable_objects([roll])
+        self.register_success_conditions(
+            [DetectedCondition(roll, success_sensor),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.boundary_roll.clear()
+        self.boundary_stand.clear()
+        self.boundary_roll.sample(self.roll_box)
+        self.boundary_stand.sample(self.stand_base)
+        return ['put toilet roll on stand',
+                'place the toilet roll on the stand',
+                'slide the roll onto its holder']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/put_tray_in_oven.py b/external/rlbench/rlbench/tasks/put_tray_in_oven.py
new file mode 100644
index 0000000000000000000000000000000000000000..6e61be95d528d059ece2337c09f2d7f8c4dff372
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_tray_in_oven.py
@@ -0,0 +1,39 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class PutTrayInOven(Task):
+
+    def init_task(self) -> None:
+        success_detector = ProximitySensor('success')
+        self.tray = Shape('tray')
+        self.register_graspable_objects([self.tray])
+        self.register_success_conditions(
+            [DetectedCondition(self.tray, success_detector),
+             NothingGrasped(self.robot.gripper)])
+        self.boundary = SpawnBoundary([Shape('oven_tray_boundary')])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.boundary.clear()
+        self.boundary.sample(
+            self.tray, min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+        return ['put tray in oven',
+                'place the tray in the oven',
+                'open the oven, then slide the tray in',
+                'open the oven door, pick up the tray, and put it down on the '
+                'oven shelf']
+
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('oven_boundary_root')
diff --git a/external/rlbench/rlbench/tasks/put_umbrella_in_umbrella_stand.py b/external/rlbench/rlbench/tasks/put_umbrella_in_umbrella_stand.py
new file mode 100644
index 0000000000000000000000000000000000000000..ad56d5021d8d4f088564208065a94a735e6e1e29
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/put_umbrella_in_umbrella_stand.py
@@ -0,0 +1,25 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class PutUmbrellaInUmbrellaStand(Task):
+
+    def init_task(self):
+        success_sensor = ProximitySensor('success')
+        umbrella = Shape('umbrella')
+        self.register_graspable_objects([umbrella])
+        self.register_success_conditions(
+            [DetectedCondition(umbrella, success_sensor),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['put umbrella in umbrella stand'
+                'pick up the umbrella and drop it in its stand',
+                'use the handle to lift the umbrella and place it in its holder'
+                'set the umbrella down inside the umbrella stand']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/reach_and_drag.py b/external/rlbench/rlbench/tasks/reach_and_drag.py
new file mode 100644
index 0000000000000000000000000000000000000000..4e7272364d20919a7a3e841b10b5b98da0b7bd07
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/reach_and_drag.py
@@ -0,0 +1,45 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.const import colors
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+
+
+class ReachAndDrag(Task):
+
+    def init_task(self) -> None:
+        self.stick = Shape('stick')
+        self.register_graspable_objects([self.stick])
+        self.cube = Shape('cube')
+        self.target = Shape('target0')
+        self.distractor1 = Shape('distractor1')
+        self.distractor2 = Shape('distractor2')
+        self.distractor3 = Shape('distractor3')
+
+    def init_episode(self, index: int) -> List[str]:
+        self.register_success_conditions([
+            DetectedCondition(self.cube, ProximitySensor('success0'))])
+        color_name, color_rgb = colors[index]
+        self.target.set_color(color_rgb)
+
+        _, distractor1_rgb = colors[(index + 5) % len(colors)]
+        self.distractor1.set_color(distractor1_rgb)
+
+        _, distractor2_rgb = colors[(index + 6) % len(colors)]
+        self.distractor2.set_color(distractor2_rgb)
+
+        _, distractor3_rgb = colors[(index + 7) % len(colors)]
+        self.distractor3.set_color(distractor3_rgb)
+
+        return ['use the stick to drag the cube onto the %s target'
+                % color_name,
+                'pick up the stick and use it to push or pull the cube '
+                'onto the %s target' % color_name,
+                'drag the block towards the %s square on the table top'
+                % color_name,
+                'grasping the stick by one end, pick it up and use the its '
+                'other end to move the block onto the %s target' % color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
diff --git a/external/rlbench/rlbench/tasks/reach_target.py b/external/rlbench/rlbench/tasks/reach_target.py
new file mode 100644
index 0000000000000000000000000000000000000000..8e1754a264cc4c48dc96daa7205b945d35abfb4a
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/reach_target.py
@@ -0,0 +1,51 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.const import colors
+from rlbench.backend.task import Task
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.conditions import DetectedCondition
+
+
+class ReachTarget(Task):
+
+    def init_task(self) -> None:
+        self.target = Shape('target')
+        self.distractor0 = Shape('distractor0')
+        self.distractor1 = Shape('distractor1')
+        self.boundaries = Shape('boundary')
+        success_sensor = ProximitySensor('success')
+        self.register_success_conditions(
+            [DetectedCondition(self.robot.arm.get_tip(), success_sensor)])
+
+    def init_episode(self, index: int) -> List[str]:
+        color_name, color_rgb = colors[index]
+        self.target.set_color(color_rgb)
+        color_choices = np.random.choice(
+            list(range(index)) + list(range(index + 1, len(colors))),
+            size=2, replace=False)
+        for ob, i in zip([self.distractor0, self.distractor1], color_choices):
+            name, rgb = colors[i]
+            ob.set_color(rgb)
+        b = SpawnBoundary([self.boundaries])
+        for ob in [self.target, self.distractor0, self.distractor1]:
+            b.sample(ob, min_distance=0.2,
+                     min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+
+        return ['reach the %s target' % color_name,
+                'touch the %s ball with the panda gripper' % color_name,
+                'reach the %s sphere' %color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
+
+    def get_low_dim_state(self) -> np.ndarray:
+        # One of the few tasks that have a custom low_dim_state function.
+        return np.array(self.target.get_position())
+
+    def is_static_workspace(self) -> bool:
+        return True
diff --git a/external/rlbench/rlbench/tasks/remove_cups.py b/external/rlbench/rlbench/tasks/remove_cups.py
new file mode 100644
index 0000000000000000000000000000000000000000..d810f341d35607da51902d312797bd7f32fd50b3
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/remove_cups.py
@@ -0,0 +1,109 @@
+from typing import List, Tuple
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+MAX_CUPS_TO_REMOVE = 2
+
+
+class RemoveCups(Task):
+
+    def init_task(self) -> None:
+        self.cups_removed = -1
+        self.cups = [Shape('mug%d' % i) for i in range(3)]
+        self.spokes = [Shape('place_cups_holder_spoke%d' % i) for i in range(3)]
+        self.holder = Shape('place_cups_holder_base')
+        self.holder_boundary = Shape('tree_boundary')
+        self.register_graspable_objects(self.cups)
+        self.success_detectors = [ProximitySensor('success_detector%d' % i)
+                                  for i in range(3)]
+        self.w1 = Dummy('waypoint1')
+        self.w1_rel_pos = self.w1.get_position(relative_to=self.cups[0])
+        self.w1_rel_ori = self.w1.get_orientation(relative_to=self.cups[0])
+        self.w2 = Dummy('waypoint2')
+        self.w2_rel_pos = self.w2.get_position(relative_to=self.spokes[0])
+        self.w2_rel_ori = self.w2.get_orientation(relative_to=self.spokes[0])
+        self.w5 = Dummy('waypoint5')
+        self.w5_rel_pos = self.w5.get_orientation(
+            relative_to=self.success_detectors[0])
+        self.w5_new_pos = self.w5.get_position()
+        self.w5_new_pos_saved = self.w5_new_pos
+        self.success_conditions = [NothingGrasped(self.robot.gripper)]
+
+    def init_episode(self, index: int) -> List[str]:
+        self.cups_removed = -1
+        self.cups_to_remove = 1 + index % MAX_CUPS_TO_REMOVE
+        self.w5_new_pos = self.w5_new_pos_saved
+        self.w1.set_position(self.w1_rel_pos,
+                             relative_to=self.cups[0],
+                             reset_dynamics=False)
+        for i in range(self.cups_to_remove):
+            self.success_conditions.append(
+                DetectedCondition(self.cups[i], self.success_detectors[i])
+            )
+        self.register_success_conditions(self.success_conditions)
+        self.register_waypoint_ability_start(0, self._move_above_next_target)
+        self.register_waypoints_should_repeat(self._repeat)
+
+        if self.cups_to_remove == 1:
+            return ['remove 1 cup from the cup holder and place it on the '
+                    'table',
+                    'remove one cup from the mug holder',
+                    'pick up 1 cup from the mug tree and place it on the table',
+                    'slide 1 mug off of its spoke on the cup holder and leave '
+                    'it on the table top']
+        else:
+            return ['remove %d cups from the cup holder and place it on the '
+                    'table' % self.cups_to_remove,
+                    'remove %d cups from the cup holder' % self.cups_to_remove,
+                    'pick up %d cups from the mug tree and place them on the '
+                    'table' % self.cups_to_remove,
+                    'slide %d mugs off of their spokes on the cup holder and '
+                    'leave them on the table top' % self.cups_to_remove]
+
+    def variation_count(self) -> int:
+        return MAX_CUPS_TO_REMOVE
+
+    def _move_above_next_target(self, waypoint):
+        if self.cups_removed > self.cups_to_remove:
+            raise RuntimeError('Should not be here, all cups should have been '
+                               'removed')
+        move_index = self.cups_removed if self.cups_removed > -1 else 0
+        next_move_index = self.cups_removed + 1 if self.cups_removed > -1 else 0
+        if self.cups_removed > -1:
+            self.w1.set_position(self.w1_rel_pos,
+                                 relative_to=self.cups[next_move_index],
+                                 reset_dynamics=False
+                                 )
+            self.w1.set_orientation(self.w1_rel_ori,
+                                    relative_to=self.cups[next_move_index],
+                                    reset_dynamics=False
+                                    )
+            self.w2.set_position(self.w2_rel_pos,
+                                 relative_to=self.spokes[next_move_index],
+                                 reset_dynamics=False)
+            self.w2.set_orientation(self.w2_rel_ori,
+                                    relative_to=self.spokes[next_move_index],
+                                    reset_dynamics=False
+                                    )
+            new_x, new_y, _ = self.success_detectors[
+                next_move_index].get_position()
+            self.w5_new_pos[0] = new_x
+            self.w5_new_pos[1] = new_y
+            self.w5.set_position(self.w5_new_pos,
+                                 reset_dynamics=False)
+
+        ######
+        self.cups_removed += 1
+        ######
+
+    def cleanup(self) -> None:
+        self.cups_removed = -1
+
+    def _repeat(self):
+        return self.cups_removed < self.cups_to_remove - 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
diff --git a/external/rlbench/rlbench/tasks/scoop_with_spatula.py b/external/rlbench/rlbench/tasks/scoop_with_spatula.py
new file mode 100644
index 0000000000000000000000000000000000000000..8ddb7110d146e3e695439f73f1a70c5703b3137b
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/scoop_with_spatula.py
@@ -0,0 +1,27 @@
+from rlbench.backend.task import Task
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.conditions import GraspedCondition, DetectedCondition
+
+
+class ScoopWithSpatula(Task):
+
+    def init_task(self) -> None:
+        spatula = Shape('scoop_with_spatula_spatula')
+        self.register_graspable_objects([spatula])
+        self.register_success_conditions([
+            DetectedCondition(Shape('Cuboid'), ProximitySensor('success')),
+            GraspedCondition(self.robot.gripper, spatula)
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['scoop up the cube and lift it with the spatula',
+                'scoop up the block and lift it with the spatula',
+                'use the spatula to scoop the cube and lift it',
+                'use the spatula to scoop the block and lift it',
+                'pick up the cube using the spatula',
+                'pick up the block using the spatula']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/screw_nail.py b/external/rlbench/rlbench/tasks/screw_nail.py
new file mode 100644
index 0000000000000000000000000000000000000000..b7dac8c76fa3fe6845fc2c3ba607ca62ff85144b
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/screw_nail.py
@@ -0,0 +1,36 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition, GraspedCondition, \
+    ConditionSet
+
+
+class ScrewNail(Task):
+
+    def init_task(self) -> None:
+        screw_driver = Shape('screw_driver')
+        self.block = Shape('block')
+        self.register_graspable_objects([screw_driver])
+        screw_joint = Joint('screw_joint')
+
+        cond_set = ConditionSet([
+            GraspedCondition(self.robot.gripper, screw_driver),
+            JointCondition(screw_joint, 1.4)],  # about 90 degrees
+            order_matters=True)
+        self.register_success_conditions([cond_set])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['screw the nail in to the block',
+                'pick up the screwdriver and screw in the protruding nail',
+                'grasping the screw driver by its handle, slide its tip into '
+                'the groove on the end of the nail, and rotate the screw driver'
+                ' in an anti clockwise direction around the vertical axis',
+                'lift the screwdriver up by its handle, lower its tip into the '
+                'protruding nail, and screw in the nail']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 2.], [0, 0, 3.14 / 2.]
diff --git a/external/rlbench/rlbench/tasks/set_clock_to_time.py b/external/rlbench/rlbench/tasks/set_clock_to_time.py
new file mode 100644
index 0000000000000000000000000000000000000000..6874a5582c3ba41b77364f92af067ded8d8f3005
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/set_clock_to_time.py
@@ -0,0 +1,55 @@
+from typing import List, Tuple
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.task import Task
+from pyrep.objects.dummy import Dummy
+
+
+TIMES = ['15', '30', '45']
+
+class SetClockToTime(Task):
+
+    def init_task(self) -> None:
+        self._turn_points = [
+            Dummy('point_15'),
+            Dummy('point_30'),
+            Dummy('point_45'),
+        ]
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        time = TIMES[index]
+
+        self.register_fail_conditions([
+            DetectedCondition(Shape('clock_needle_crank'),
+                              ProximitySensor('Panda_gripper_attachProxSensor'))
+        ])
+
+        self.register_success_conditions([
+            DetectedCondition(Shape('clock_minute_head'),
+                              ProximitySensor('detector_%s' % time)),
+            NothingGrasped(self.robot.gripper)
+        ])
+
+
+        turn_point = self._turn_points[self._variation_index]
+        waypoint3 = Dummy('waypoint2')
+        waypoint3.set_pose(turn_point.get_pose())
+
+        return [
+            'change the clock to show time 12.%s' % (time),
+            'adjust the time to 12.%s' % (time),
+            'change the clock to 12.%s' % (time),
+            'set the clock to 12.%s' % (time),
+            'turn the knob on the back of the clock until the time shows 12.%s' % (time),
+            'rotate the wheel on the clock to make it show 12.%s' % (time),
+            'make the clock say 12.%s' % (time),
+            'turn the knob on the back of the clock %d degrees' % (90*(index+1))
+        ]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -3.14/4 - 3.14/2], [0.0, 0.0, 3.14/4 - 3.14/2]
\ No newline at end of file
diff --git a/external/rlbench/rlbench/tasks/set_the_table.py b/external/rlbench/rlbench/tasks/set_the_table.py
new file mode 100644
index 0000000000000000000000000000000000000000..0fb3503d342bf5e5559c3bcb2f3e1d12f93df025
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/set_the_table.py
@@ -0,0 +1,42 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class SetTheTable(Task):
+
+    def init_task(self) -> None:
+        plate = Shape('plate')
+        fork = Shape('fork')
+        knife = Shape('knife')
+        spoon = Shape('spoon')
+        glass = Shape('glass')
+        self.register_success_conditions([
+            DetectedCondition(plate, ProximitySensor('plate_detector')),
+            DetectedCondition(fork, ProximitySensor('fork_detector')),
+            DetectedCondition(knife, ProximitySensor('knife_detector')),
+            DetectedCondition(spoon, ProximitySensor('spoon_detector')),
+            DetectedCondition(glass, ProximitySensor('glass_detector')),
+            NothingGrasped(self.robot.gripper)])
+        self.register_graspable_objects([plate, fork, knife, spoon, glass])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['set the table'
+                'place the dishes and cutlery on the table in preparation for '
+                'a meal',
+                'pick up the plate and put it down on the table, then place '
+                'the fork to its left, the knife and then the spoon to its '
+                'right, and set the glass down just above them',
+                'prepare the table for a meal',
+                'arrange the plate, cutlery and glass neatly on the table '
+                'so that a person can eat',
+                'get the table ready for lunch',
+                'get the table ready for dinner']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]
diff --git a/external/rlbench/rlbench/tasks/setup_checkers.py b/external/rlbench/rlbench/tasks/setup_checkers.py
new file mode 100644
index 0000000000000000000000000000000000000000..6d17e3ec7b50122785b57f8f5767937a1e0e3d84
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/setup_checkers.py
@@ -0,0 +1,132 @@
+from typing import List
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+MAX_CHECKERS_TO_SETUP = 3
+
+
+class SetupCheckers(Task):
+
+    def init_task(self) -> None:
+        self.checkers_placed = -1
+        self.checkers = [Shape('checker%d' % i)
+                         for i in range(24)]
+
+        self.chess_board = Shape('chess_board_base')
+
+        self.checkers_starting_pos_list = [
+            checker.get_position(self.chess_board) for checker in self.checkers]
+        self.checkers_starting_orientation = \
+            self.checkers[0].get_orientation(self.chess_board)
+
+        self.register_graspable_objects(self.checkers)
+        self.success_detectors = [ProximitySensor('detector%d' % i)
+                                  for i in range(24)]
+        self.success_conditions = [NothingGrasped(self.robot.gripper)]
+        for i in range(len(self.checkers)):
+            self.success_conditions.append(
+                DetectedCondition(self.checkers[i], self.success_detectors[i]))
+
+        self.register_success_conditions(self.success_conditions)
+        self.cleanup()
+
+    def init_episode(self, index: int) -> List[str]:
+        self.cleanup()
+
+        self.checkers_to_setup = 1 + index % MAX_CHECKERS_TO_SETUP
+
+        ## Use to showcase episode variations while rlbench backend gets fixed:
+
+        self.register_waypoint_ability_start(0, self._move_above_next_target)
+        self.register_waypoints_should_repeat(self._repeat)
+
+        target_checkers_unordered = np.random.choice(self.checkers,
+                                                     self.checkers_to_setup,
+                                                     replace=False)
+        self.target_indexes = []
+        self.target_checkers = []
+        for checker in self.checkers:
+            if checker in target_checkers_unordered:
+                self.target_checkers.append(checker)
+
+        self.target_pos_list = []
+
+        pos_delta = 0.045
+        start_pos_list = [+0.0070816, +0.31868, -0.094908]
+
+        for i, checker in enumerate(self.checkers):
+            if checker in self.target_checkers:
+                self.target_indexes.append(i)
+                self.target_pos_list = checker.get_position()
+                checker.set_position(start_pos_list,
+                                     relative_to=self.chess_board,
+                                     reset_dynamics=False)
+                start_pos_list[2] += pos_delta
+
+        if self.checkers_to_setup == 1:
+            rtn = ['place the remaining checker '
+                   'in its initial position on the board']
+        else:
+            rtn = ['place the %d remaining checkers in '
+                   'their initial positions on the board'
+                   % self.checkers_to_setup]
+
+        rtn.extend(['prepare the checkers board',
+                    'get the chess board ready for a game of checkers',
+                    'setup the checkers board', 'setup checkers',
+                    'arrange the checkers ready for a game',
+                    'get checkers ready'])
+
+        return rtn
+
+    def variation_count(self) -> int:
+        return MAX_CHECKERS_TO_SETUP
+
+    def cleanup(self) -> None:
+        self.checkers_placed = -1
+        for i, checker in enumerate(self.checkers):
+            checker.set_position(self.checkers_starting_pos_list[i],
+                                 self.chess_board)
+            checker.set_orientation(self.checkers_starting_orientation,
+                                    self.chess_board)
+
+    def _move_above_next_target(self, waypoint):
+        self.checkers_placed += 1
+        self.target_index = self.target_indexes[self.checkers_placed]
+
+        if self.checkers_placed > self.checkers_to_setup:
+            raise RuntimeError('Should not be here')
+
+        w1 = Dummy('waypoint1')
+        # self.w2.set_parent(target_checkers[self.checkers_placed]
+
+        unplaced_x, unplaced_y, unplaced_z = self.target_checkers[
+            self.checkers_placed].get_position()
+
+        z_offset_pickup = 0
+
+        w1.set_position([unplaced_x, unplaced_y, unplaced_z - z_offset_pickup],
+                        reset_dynamics=False)
+
+        w4 = Dummy('waypoint4')
+
+        target_x, target_y, target_z = self.checkers_starting_pos_list[
+            self.target_index]
+        z_offset_placement = 1.00 * 10 ** (-3)
+
+        w4.set_position([target_x - z_offset_placement, target_y, target_z],
+                        relative_to=self.chess_board, reset_dynamics=False)
+
+        if self.checkers_to_setup > 1:
+            if self.target_index == self.target_indexes[0]:
+                self.target_index = self.target_indexes[1]
+            if self.target_index == self.target_indexes[1] \
+                    and self.checkers_to_setup == 3:
+                self.target_index = self.target_indexes[2]
+
+    def _repeat(self):
+        return self.checkers_placed + 1 < self.checkers_to_setup
diff --git a/external/rlbench/rlbench/tasks/setup_chess.py b/external/rlbench/rlbench/tasks/setup_chess.py
new file mode 100644
index 0000000000000000000000000000000000000000..51a538a8f9a24c193da492512713eaca9404d1c3
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/setup_chess.py
@@ -0,0 +1,98 @@
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped, ConditionSet
+from rlbench.backend.task import Task
+
+from typing import List
+
+import numpy as np
+import random
+
+COLORS = ['white', 'black']
+PIECES = ['king', 'kingside_bishop', 'kingside_rook', 'kingside_knight', 'pawn_a',
+          'pawn_b', 'pawn_c', 'pawn_d', 'pawn_e', 'pawn_f', 'pawn_g', 'pawn_h',
+          'queen', 'queenside_bishop', 'queenside_knight', 'queenside_rook']
+
+class SetupChess(Task):
+    MAX_DISPLACEMENTS = 3
+
+    def init_task(self) -> None:
+        self.board = Shape('chess_board_base')
+        self.pieces = [Shape(f'{color}_{piece}_dynamic') for color in COLORS for piece in PIECES]
+
+        self.positions = [piece.get_position(self.board) for piece in self.pieces]
+        self.rotations = [piece.get_orientation(self.board) for piece in self.pieces]
+
+        self.success_detectors = [ProximitySensor(f'detector_{file}{rank}') for file in 'abcdefgh' for rank in [1, 2, 7, 8]]
+        self.success_conditions = [NothingGrasped(self.robot.gripper)]
+
+        for piece, detector in zip(self.pieces, self.success_detectors):
+            x, y, z = piece.get_position(self.board)
+            z = detector.get_position(self.board)[2]
+            detector.set_position((x, y, z), self.board)
+            self.success_conditions.append(DetectedCondition(piece, detector))
+
+        self.register_success_conditions(self.success_conditions)
+        self.register_graspable_objects(self.pieces)
+
+    def init_episode(self, index: int) -> List[str]:
+        for piece, position, rotation in zip(self.pieces, self.positions, self.rotations):
+            piece.set_position(position, self.board)
+            piece.set_orientation(rotation, self.board)
+
+        self.nsetup = 1 + index % self.MAX_DISPLACEMENTS
+        self.placed = -1
+        self.places = random.sample([(dx, dy) for dx in range(8) for dy in range(1, 3)], self.nsetup)
+
+        self.register_waypoint_ability_start(0, self._move_above_next_target)
+        self.register_waypoints_should_repeat(self._repeat)
+
+        self.indices = np.random.choice(np.arange(len(self.pieces)), self.nsetup, replace = False)
+        self.targets = [self.pieces[idx] for idx in self.indices]
+
+        delta = 4.7888e-2
+
+        for piece, (x, y) in zip(self.targets, self.places):
+            x = -1.6759e-1 + x * delta
+            y = -7.1825e-2 + y * delta
+            z = piece.get_position(self.board)[2]
+            piece.set_position([x, y, z], self.board, reset_dynamics = False)
+
+        if self.nsetup == 1:
+            cmds = ['place the remaining chess piece in its initial position on the board']
+        else:
+            cmds = [f'place the {self.nsetup} remaining chess pieces in their initial positions on the board']
+
+        cmds.extend([
+            'prepare the chessboard',
+            'get the chessboard ready for a game of chess',
+            'setup the chessboard',
+            'setup chess',
+            'arrange the chess pieces ready for a game',
+            'get chess pieces ready'
+        ])
+
+        return cmds
+
+    def variation_count(self) -> int:
+        return self.MAX_DISPLACEMENTS
+
+    def _move_above_next_target(self, waypoint):
+        self.placed += 1
+        index = self.indices[self.placed]
+        piece = self.targets[self.placed]
+        final = self.positions[index]
+
+        w1 = Dummy("waypoint1")
+        w4 = Dummy("waypoint4")
+
+        xt, yt, zt = piece.get_position(self.board) # current position
+        xf, yf, zf = final                          # target position
+
+        w1.set_position([xt, yt, zt], self.board, reset_dynamics = False)
+        w4.set_position([xf - 1e-3, yf, zf + 0.1], self.board, reset_dynamics = False)
+
+    def _repeat(self):
+        return self.placed + 1 < self.nsetup
diff --git a/external/rlbench/rlbench/tasks/slide_block_to_color_target.py b/external/rlbench/rlbench/tasks/slide_block_to_color_target.py
new file mode 100644
index 0000000000000000000000000000000000000000..ca714183cfb32fb2e5d00c193b99d3c3f3aeb4c5
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/slide_block_to_color_target.py
@@ -0,0 +1,61 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+import numpy as np
+
+
+class SlideBlockToColorTarget(Task):
+
+    def init_task(self) -> None:
+        self.block = Shape('block')
+        self.target_colors = ['green', 'blue', 'pink', 'yellow']
+
+        self._waypoint_paths = {
+            0: [Dummy('point1a'),
+                Dummy('point1b')],
+
+            1: [Dummy('point2a'),
+                Dummy('point2b'),
+                Dummy('point2c'),
+                Dummy('point2d'),
+                Dummy('point2e')],
+
+            2: [Dummy('point3a'),
+                Dummy('point3b')],
+
+            3: [Dummy('point4a'),
+                Dummy('point4b'),
+                Dummy('point4c'),
+                Dummy('point4d'),
+                Dummy('point4e')]
+        }
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+
+        self.register_success_conditions([
+            DetectedCondition(Shape('block'), 
+                ProximitySensor(f'success{self._variation_index+1}'))])
+
+
+        target_color = self.target_colors[self._variation_index]
+        target_waypoints = self._waypoint_paths[self._variation_index]
+
+        self._waypoints = [Dummy('waypoint%d'%(i))
+                           for i in range(5)]
+
+        for i in range(len(target_waypoints)):
+            self._waypoints[i].set_pose(target_waypoints[i].get_pose())
+        self.register_stop_at_waypoint(i+1)
+
+        return ['slide the block to %s target' % (target_color),
+                'slide the block onto the %s square' % (target_color),
+                'push the block until it is sitting on top of the %s target' % (target_color),
+                'slide the block towards the %s plane' % (target_color),
+                'cover the %s target with the block by pushing the block in its direction' % (target_color)]
+
+    def variation_count(self) -> int:
+        return 4
diff --git a/external/rlbench/rlbench/tasks/slide_block_to_target.py b/external/rlbench/rlbench/tasks/slide_block_to_target.py
new file mode 100644
index 0000000000000000000000000000000000000000..788dee80a56923f6fecb329d56235959421ced15
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/slide_block_to_target.py
@@ -0,0 +1,40 @@
+from typing import List
+
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+
+
+class SlideBlockToTarget(Task):
+
+    def init_task(self) -> None:
+        self._block = Shape('block')
+        self._target = ProximitySensor('success')
+        self.register_success_conditions([
+            DetectedCondition(self._block, self._target)])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        return ['slide the block to target',
+                'slide the block onto the target',
+                'push the block until it is sitting on top of the target',
+                'slide the block towards the green target',
+                'cover the target with the block by pushing the block in its'
+                ' direction']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def get_low_dim_state(self) -> np.ndarray:
+        # One of the few tasks that have a custom low_dim_state function.
+        return np.concatenate([
+            self._block.get_position(), self._target.get_position()])
+
+    def reward(self) -> float:
+        grip_to_block = -np.linalg.norm(
+            self._block.get_position() - self.robot.arm.get_tip().get_position())
+        block_to_target = -np.linalg.norm(
+            self._block.get_position() - self._target.get_position())
+        return grip_to_block + block_to_target
diff --git a/external/rlbench/rlbench/tasks/slide_cabinet_open.py b/external/rlbench/rlbench/tasks/slide_cabinet_open.py
new file mode 100644
index 0000000000000000000000000000000000000000..2922c6b03311ebf13e91a45ac8053398aec23f2f
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/slide_cabinet_open.py
@@ -0,0 +1,50 @@
+from typing import List, Tuple
+from pyrep.objects.joint import Joint
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition, NothingGrasped
+
+OPTIONS = ['right', 'left']
+
+
+class SlideCabinetOpen(Task):
+
+    def init_task(self):
+        self.left_joint = Joint('left_joint')
+        self.right_joint = Joint('right_joint')
+        self.waypoint0 = Dummy('waypoint0')
+        self.waypoint1 = Dummy('waypoint1')
+        self.waypoint2 = Dummy('waypoint2')
+        self.left_initial_waypoint = Dummy('waypoint4')
+        self.left_close_waypoint = Dummy('waypoint5')
+        self.left_far_waypoint = Dummy('waypoint6')
+
+    def init_episode(self, index: int) -> List[str]:
+        option = OPTIONS[index]
+
+        if option == 'left':
+            self.waypoint0.set_position(
+                self.left_initial_waypoint.get_position())
+            self.waypoint1.set_position(self.left_close_waypoint.get_position())
+            self.waypoint2.set_position(self.left_far_waypoint.get_position())
+            self.register_success_conditions(
+                [JointCondition(self.left_joint, 0.06),
+                 NothingGrasped(self.robot.gripper)])
+        else:
+            self.register_success_conditions(
+                [JointCondition(self.right_joint, 0.06),
+                 NothingGrasped(self.robot.gripper)])
+
+        return ['slide %s cabinet open' % option,
+                'open the %s door' % option,
+                'open the %s half of the cabinet' % option,
+                'slide open the %s slide of the cabinet' % option,
+                'grip the %s handle and slide the door open' % option,
+                'grasp the %s door\'s handle and and drag it towards the middle'
+                ' of the cabinet in order to slide that door open' % option]
+
+    def variation_count(self) -> int :
+        return 2
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -3.14 / 4.], [0.0, 0.0, 3.14 / 4.]
diff --git a/external/rlbench/rlbench/tasks/slide_cabinet_open_and_place_cups.py b/external/rlbench/rlbench/tasks/slide_cabinet_open_and_place_cups.py
new file mode 100644
index 0000000000000000000000000000000000000000..a4991113982614bc2ab66dd333831102dc290836
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/slide_cabinet_open_and_place_cups.py
@@ -0,0 +1,67 @@
+from typing import List, Tuple
+
+from pyrep.objects.joint import Joint
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, JointCondition, \
+    NothingGrasped
+
+OPTIONS = ['left', 'right']
+
+
+class SlideCabinetOpenAndPlaceCups(Task):
+
+    def init_task(self):
+
+        self.cup = Shape('cup')
+        self.success_sensor = ProximitySensor('success')
+        self.register_graspable_objects([Shape('cup')])
+
+        self.left_joint = Joint('left_joint')
+        self.right_joint = Joint('right_joint')
+        self.waypoint0 = Dummy('waypoint0')
+        self.waypoint1 = Dummy('waypoint1')
+        self.waypoint2 = Dummy('waypoint2')
+        self.waypoint6 = Dummy('waypoint6')
+        self.left_initial_waypoint = Dummy('left_initial_waypoint')
+        self.left_close_waypoint = Dummy('left_close_waypoint')
+        self.left_far_waypoint = Dummy('left_far_waypoint')
+        self.place_cup_left_waypoint = Dummy('place_cup_left_waypoint')
+
+        # self.register_success_conditions([
+        #     DetectedCondition(sel, ProximitySensor('success'))])
+
+    def init_episode(self, index: int) -> List[str]:
+
+        option = OPTIONS[index]
+
+        conditions = [DetectedCondition(self.cup, self.success_sensor),
+                      NothingGrasped(self.robot.gripper)]
+
+        if option == 'left':
+            self.waypoint0.set_position(
+                self.left_initial_waypoint.get_position())
+            self.waypoint1.set_position(self.left_close_waypoint.get_position())
+            self.waypoint2.set_position(self.left_far_waypoint.get_position())
+            self.waypoint6.set_position(self.place_cup_left_waypoint.get_position())
+            conditions.append(JointCondition(self.left_joint, 0.06))
+        else:
+            conditions.append(JointCondition(self.right_joint, 0.06))
+        self.register_success_conditions(conditions)
+
+        return ['put cup in %s cabinet' % option,
+                'put the mug away in the %s half of the cabinet' % option,
+                'open the %s side of the cabinet and put the cup away in it'
+                % option,
+                'grasping the %s handle, open the cabinet, then pick up the cup'
+                ' and set it down inside the cabinet' % option,
+                'slide open the %s door on the cabinet and put away the mug'
+                % option]
+
+    def variation_count(self) -> int:
+        return 2
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -3.14 / 4.], [0.0, 0.0, 3.14 / 4.]
diff --git a/external/rlbench/rlbench/tasks/solve_puzzle.py b/external/rlbench/rlbench/tasks/solve_puzzle.py
new file mode 100644
index 0000000000000000000000000000000000000000..4c36e32319ae25ce8d832bfa0fe0a111828c01f2
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/solve_puzzle.py
@@ -0,0 +1,28 @@
+from typing import List
+
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import NothingGrasped, DetectedCondition
+from rlbench.backend.task import Task
+    
+
+class SolvePuzzle(Task):
+
+    def init_task(self) -> None:
+        piece2 = Shape('solve_puzzle_piece2')
+        self.register_graspable_objects([piece2])
+        self.register_success_conditions([
+            NothingGrasped(self.robot.gripper),
+            DetectedCondition(piece2, ProximitySensor('success'))
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        return [
+            'solve the puzzle',
+            'put the puzzle piece into the puzzle',
+            'pick up the puzzle piece and place it on the puzzle'
+        ]
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/stack_blocks.py b/external/rlbench/rlbench/tasks/stack_blocks.py
new file mode 100644
index 0000000000000000000000000000000000000000..991a7e7c4932912172cee5ec1342a3fe40a13d7c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/stack_blocks.py
@@ -0,0 +1,108 @@
+from typing import List
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedSeveralCondition
+from rlbench.backend.conditions import NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.const import colors
+
+MAX_STACKED_BLOCKS = 3
+DISTRACTORS = 4
+
+
+class StackBlocks(Task):
+
+    def init_task(self) -> None:
+        self.blocks_stacked = 0
+        self.target_blocks = [Shape('stack_blocks_target%d' % i)
+                              for i in range(4)]
+        self.distractors = [
+            Shape('stack_blocks_distractor%d' % i)
+            for i in range(DISTRACTORS)]
+
+        self.boundaries = [Shape('stack_blocks_boundary%d' % i)
+                           for i in range(4)]
+
+        self.register_graspable_objects(self.target_blocks + self.distractors)
+
+        self.register_waypoint_ability_start(0, self._move_above_next_target)
+        self.register_waypoint_ability_start(3, self._move_above_drop_zone)
+        self.register_waypoint_ability_start(5, self._is_last)
+        self.register_waypoints_should_repeat(self._repeat)
+
+    def init_episode(self, index: int) -> List[str]:
+        # For each color, we want to have 2, 3 or 4 blocks stacked
+        color_index = int(index / MAX_STACKED_BLOCKS)
+        self.blocks_to_stack = 2 + index % MAX_STACKED_BLOCKS
+        color_name, color_rgb = colors[color_index]
+        for b in self.target_blocks:
+            b.set_color(color_rgb)
+
+        success_detector = ProximitySensor(
+            'stack_blocks_success')
+        self.register_success_conditions([DetectedSeveralCondition(
+            self.target_blocks, success_detector, self.blocks_to_stack),
+            NothingGrasped(self.robot.gripper)
+        ])
+
+        self.blocks_stacked = 0
+        color_choices = np.random.choice(
+            list(range(color_index)) + list(
+                range(color_index + 1, len(colors))),
+            size=2, replace=False)
+        for i, ob in enumerate(self.distractors):
+            name, rgb = colors[color_choices[int(i / 4)]]
+            ob.set_color(rgb)
+        b = SpawnBoundary(self.boundaries)
+        for block in self.target_blocks + self.distractors:
+            b.sample(block, min_distance=0.1)
+
+        return ['stack %d %s blocks' % (self.blocks_to_stack, color_name),
+                'place %d of the %s cubes on top of each other'
+                % (self.blocks_to_stack, color_name),
+                'pick up and set down %d %s blocks on top of each other'
+                % (self.blocks_to_stack, color_name),
+                'build a tall tower out of %d %s cubes'
+                % (self.blocks_to_stack, color_name),
+                'arrange %d %s blocks in a vertical stack on the table top'
+                % (self.blocks_to_stack, color_name),
+                'set %d %s cubes on top of each other'
+                % (self.blocks_to_stack, color_name)]
+
+    def variation_count(self) -> int:
+        return len(colors) * MAX_STACKED_BLOCKS
+
+    def _move_above_next_target(self, _):
+        if self.blocks_stacked >= self.blocks_to_stack:
+            raise RuntimeError('Should not be here.')
+        w2 = Dummy('waypoint1')
+        x, y, z = self.target_blocks[self.blocks_stacked].get_position()
+        _, _, oz = self.target_blocks[self.blocks_stacked].get_orientation()
+        ox, oy, _ = w2.get_orientation()
+        w2.set_position([x, y, z])
+        w2.set_orientation([ox, oy, -oz])
+
+    def _move_above_drop_zone(self, waypoint):
+        target = Shape('stack_blocks_target_plane')
+        x, y, z = target.get_position()
+        waypoint.get_waypoint_object().set_position(
+            [x, y, z + 0.08 + 0.06 * self.blocks_stacked + 0.05])
+
+    def _is_last(self, waypoint):
+        last = self.blocks_stacked == self.blocks_to_stack - 1
+        waypoint.skip = last
+
+    def _is_last(self, waypoint):
+        last = self.blocks_stacked == self.blocks_to_stack - 1
+        waypoint.skip = last
+
+    def _is_last(self, waypoint):
+        last = self.blocks_stacked == self.blocks_to_stack - 1
+        waypoint.skip = last
+
+    def _repeat(self):
+        self.blocks_stacked += 1
+        return self.blocks_stacked < self.blocks_to_stack
\ No newline at end of file
diff --git a/external/rlbench/rlbench/tasks/stack_chairs.py b/external/rlbench/rlbench/tasks/stack_chairs.py
new file mode 100644
index 0000000000000000000000000000000000000000..0a52da7c8b495da599a39616efc5d2b39339bb07
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/stack_chairs.py
@@ -0,0 +1,74 @@
+
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.object import Object
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped, Condition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+from rlbench.const import colors
+
+from typing import List
+
+import numpy as np
+
+class ChairsOrientedCondition(Condition):
+    def __init__(self, objs: List[Object], error: float):
+        self.objs = objs
+        self.error = error
+
+    def condition_met(self):
+        for obj in self.objs[:-1]:
+            x, y, z = obj.get_orientation(self.objs[-1])
+            if abs(x) > self.error or abs(y) > self.error or abs(z) > self.error:
+                return False, False
+        return True, False
+
+class StackChairs(Task):
+    def init_task(self) -> None:
+        self.chair1 = Shape('chair1')
+        self.chair2 = Shape('chair2')
+        self.chair3 = Shape('chair3')
+
+        self.cushions1 = Shape('cushions1')
+        self.cushions2 = Shape('cushions2')
+        self.cushions3 = Shape('cushions3')
+
+        self.boundary = SpawnBoundary([Shape('boundary')])
+        self.detector = ProximitySensor('success')
+
+        self.register_graspable_objects([self.chair1, self.chair2, self.chair3])
+        self.register_success_conditions([
+            DetectedCondition(self.chair1, self.detector),
+            DetectedCondition(self.chair2, self.detector),
+            NothingGrasped(self.robot.gripper),
+            ChairsOrientedCondition([self.chair1, self.chair2, self.chair3], error = 0.25)
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        indices = np.random.choice(np.arange(len(colors)), size = 2, replace = False)
+
+        color1, rgb1 = colors[index]
+        color2, rgb2 = colors[indices[0]]
+        color3, rgb3 = colors[indices[1]] # target chair color
+
+        self.cushions1.set_color(rgb1)
+        self.cushions2.set_color(rgb2)
+        self.cushions3.set_color(rgb3)
+
+        self.boundary.clear()
+        self.boundary.sample(self.chair1, min_distance=0.1,
+                             min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+        self.boundary.sample(self.chair2, min_distance=0.1,
+                             min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+        self.boundary.sample(self.chair3, min_distance=0.1,
+                             min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+
+        return [f'stack the other chairs on top of the {color1} chair',
+                f'put the remaining two chairs on top of the {color1} chair',
+                f'pick up and set the chairs down onto the {color1} chair',
+                f'create a stack of chairs with the {color1} chair at its base',
+                f'keeping the {color1} chair on the table, stack the other two onto it']
+
+    def variation_count(self) -> int:
+        return len(colors)
diff --git a/external/rlbench/rlbench/tasks/stack_cups.py b/external/rlbench/rlbench/tasks/stack_cups.py
new file mode 100644
index 0000000000000000000000000000000000000000..8cb4f852afe74361c5b00a23ed4907cae01baf61
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/stack_cups.py
@@ -0,0 +1,69 @@
+from typing import List
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.const import colors
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+
+class StackCups(Task):
+
+    def init_task(self) -> None:
+        success_sensor = ProximitySensor('success')
+        self.cup1 = Shape('cup1')
+        self.cup2 = Shape('cup2')
+        self.cup3 = Shape('cup3')
+        self.cup1_visual = Shape('cup1_visual')
+        self.cup2_visual = Shape('cup2_visual')
+        self.cup3_visaul = Shape('cup3_visual')
+
+        self.boundary = SpawnBoundary([Shape('boundary')])
+
+        self.register_graspable_objects([self.cup1, self.cup2, self.cup3])
+        self.register_success_conditions([
+            DetectedCondition(self.cup1, success_sensor),
+            DetectedCondition(self.cup3, success_sensor),
+            NothingGrasped(self.robot.gripper)
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        self.variation_index = index
+        target_color_name, target_rgb = colors[index]
+
+        random_idx = np.random.choice(len(colors))
+        while random_idx == index:
+            random_idx = np.random.choice(len(colors))
+        _, other1_rgb = colors[random_idx]
+
+        random_idx = np.random.choice(len(colors))
+        while random_idx == index:
+            random_idx = np.random.choice(len(colors))
+        _, other2_rgb = colors[random_idx]
+
+        self.cup2_visual.set_color(target_rgb)
+        self.cup1_visual.set_color(other1_rgb)
+        self.cup3_visaul.set_color(other2_rgb)
+
+        self.boundary.clear()
+        self.boundary.sample(self.cup2, min_distance=0.05,
+                             min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+        self.boundary.sample(self.cup1, min_distance=0.05,
+                             min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+        self.boundary.sample(self.cup3, min_distance=0.05,
+                             min_rotation=(0, 0, 0), max_rotation=(0, 0, 0))
+
+        return ['stack the other cups on top of the %s cup' % target_color_name,
+                'place two of the cups onto the odd cup out',
+                'put the remaining two cups on top of the %s cup'
+                % target_color_name,
+                'pick up and set the cups down into the %s cup'
+                % target_color_name,
+                'create a stack of cups with the %s cup as its base'
+                % target_color_name,
+                'keeping the %s cup on the table, stack the other two onto it'
+                % target_color_name]
+
+    def variation_count(self) -> int:
+        return len(colors)
diff --git a/external/rlbench/rlbench/tasks/stack_wine.py b/external/rlbench/rlbench/tasks/stack_wine.py
new file mode 100644
index 0000000000000000000000000000000000000000..28ce8c5e129463cc7abff230b520f4ccce914d23
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/stack_wine.py
@@ -0,0 +1,30 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class StackWine(Task):
+
+    def init_task(self):
+        wine_bottle = Shape('wine_bottle')
+        self.register_graspable_objects([wine_bottle])
+        self.register_success_conditions(
+            [DetectedCondition(wine_bottle, ProximitySensor('success'))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['stack wine bottle',
+                'slide the bottle onto the wine rack',
+                'put the wine away',
+                'leave the wine on the shelf',
+                'grasp the bottle and put it away',
+                'place the wine bottle on the wine rack']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 4.], [0, 0, np.pi / 4.]
diff --git a/external/rlbench/rlbench/tasks/straighten_rope.py b/external/rlbench/rlbench/tasks/straighten_rope.py
new file mode 100644
index 0000000000000000000000000000000000000000..1a646cc082bde5630c7be52d99cf1d3bffac947b
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/straighten_rope.py
@@ -0,0 +1,25 @@
+from typing import List
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+
+
+class StraightenRope(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions(
+            [DetectedCondition(Shape('head'), ProximitySensor('success_head')),
+             DetectedCondition(Shape('tail'), ProximitySensor('success_tail'))])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['straighten rope',
+                'pull the rope straight',
+                'grasping each end of the rope in turn, leave the rope straight'
+                ' on the table',
+                'pull each end of the rope until is is straight',
+                'tighten the rope',
+                'pull the rope tight']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/sweep_to_dustpan.py b/external/rlbench/rlbench/tasks/sweep_to_dustpan.py
new file mode 100644
index 0000000000000000000000000000000000000000..677e6eaf32f39870d71a6746f1cf4567e625f2b3
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/sweep_to_dustpan.py
@@ -0,0 +1,31 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+
+DIRT_NUM = 5
+
+
+class SweepToDustpan(Task):
+
+    def init_task(self) -> None:
+        broom = Shape('broom')
+        success_sensor = ProximitySensor('success')
+        dirts = [Shape('dirt' + str(i)) for i in range(DIRT_NUM)]
+        conditions = [DetectedCondition(dirt, success_sensor) for dirt in dirts]
+        self.register_graspable_objects([broom])
+        self.register_success_conditions(conditions)
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['sweep dirt to dustpan',
+                'sweep the dirt up',
+                'use the broom to brush the dirt into the dustpan',
+                'clean up the dirt',
+                'pick up the brush and clean up the table',
+                'grasping the broom by its handle, clear way the dirt from the '
+                'table',
+                'leave the table clean']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/sweep_to_dustpan_of_size.py b/external/rlbench/rlbench/tasks/sweep_to_dustpan_of_size.py
new file mode 100644
index 0000000000000000000000000000000000000000..617995d81538a4821e3fc5f17e7b6fff5d7b6aff
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/sweep_to_dustpan_of_size.py
@@ -0,0 +1,56 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from pyrep.objects.object import Object
+from pyrep.objects.dummy import Dummy
+from rlbench.backend.conditions import DetectedCondition
+
+DIRT_NUM = 5
+
+
+class SweepToDustpanOfSize(Task):
+
+    def init_task(self) -> None:
+        self._dustpan_sizes = ['tall', 'short']
+
+        broom = Shape('broom')
+        self.register_graspable_objects([broom])
+
+        self._waypoint_paths = {
+            0: [Dummy('point1a'),
+                Dummy('point1b'),
+                Dummy('point1c')],
+
+            1: [Dummy('point2a'),
+                Dummy('point2b'),
+                Dummy('point2c')]
+        }
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        dustpan_size = self._dustpan_sizes[self._variation_index]
+
+        success_sensor = ProximitySensor(f'success_{dustpan_size}')
+        dirts = [Shape('dirt' + str(i)) for i in range(DIRT_NUM)]
+        conditions = [DetectedCondition(dirt, success_sensor) for dirt in dirts]
+        self.register_success_conditions(conditions)
+
+        target_waypoints = self._waypoint_paths[self._variation_index]
+        self._waypoints = [Dummy('waypoint%d'%(i))
+                           for i in range(2, 5)]
+
+        for i in range(len(target_waypoints)):
+            self._waypoints[i].set_pose(target_waypoints[i].get_pose())
+        self.register_stop_at_waypoint(2+i+1)
+
+        return ['sweep dirt to the %s dustpan' % (dustpan_size),
+                'sweep the dirt up into the %s dustpan' % (dustpan_size),
+                'use the broom to brush the dirt into the %s dustpan' % (dustpan_size),
+                'clean up the dirt with the %s pan' % (dustpan_size)]
+
+    def variation_count(self) -> int:
+        return 2
+
+    # def boundary_root(self) -> Object:
+    #     return Shape('boundary_root')
diff --git a/external/rlbench/rlbench/tasks/take_cup_out_from_cabinet.py b/external/rlbench/rlbench/tasks/take_cup_out_from_cabinet.py
new file mode 100644
index 0000000000000000000000000000000000000000..c38ec0b8e644b80b77ee13a7e2f6e1ba2698360e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_cup_out_from_cabinet.py
@@ -0,0 +1,49 @@
+from typing import List, Tuple
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+OPTIONS = ['left', 'right']
+
+
+class TakeCupOutFromCabinet(Task):
+
+    def init_task(self) -> None:
+        self.cup = Shape('cup')
+        self.left_placeholder = Dummy('left_cup_placeholder')
+        self.waypoint1 = Dummy('waypoint1')
+        self.waypoint2 = Dummy('waypoint2')
+        self.left_way_placeholder1 = Dummy('left_way_placeholder1')
+        self.left_way_placeholder2 = Dummy('left_way_placeholder2')
+
+        self.register_success_conditions(
+            [DetectedCondition(
+                self.cup, ProximitySensor('success'), negated=True),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        option = OPTIONS[index]
+
+        if option == 'left':
+            self.waypoint1.set_position(
+                self.left_way_placeholder1.get_position())
+            self.waypoint2.set_position(
+                self.left_way_placeholder2.get_position())
+            self.cup.set_position(self.left_placeholder.get_position())
+
+        return ['take out a cup from the %s half of the cabinet' % option,
+                'open the %s side of the cabinet and get the cup'
+                % option,
+                'grasping the %s handle, open the cabinet, then retrieve the '
+                'cup' % option,
+                'slide open the %s door on the cabinet and put take the cup out'
+                % option,
+                'remove the cup from the %s part of the cabinet' % option]
+
+    def variation_count(self) -> int:
+        return 2
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -3.14/2], [0.0, 0.0, 3.14/2]
diff --git a/external/rlbench/rlbench/tasks/take_frame_off_hanger.py b/external/rlbench/rlbench/tasks/take_frame_off_hanger.py
new file mode 100644
index 0000000000000000000000000000000000000000..4dad06b2d5faa2938c76b3a899db949e9a0952e7
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_frame_off_hanger.py
@@ -0,0 +1,31 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class TakeFrameOffHanger(Task):
+
+    def init_task(self) -> None:
+        frame = Shape('frame')
+        self.register_graspable_objects([frame])
+        self.register_success_conditions(
+            [DetectedCondition(frame, ProximitySensor('hanger_detector'),
+                               negated=True),
+             DetectedCondition(frame, ProximitySensor('success')),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take frame off hanger',
+                'slide the photo off of the hanger and set it down on the '
+                'table',
+                'grab a hold of the frame, remove it from the hanger and put it'
+                ' down',
+                'grasping the picture frame, take it off the wall and place it'
+                'on the table top',
+                'take the picture down',
+                'remove the photo frame from the wall']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/take_item_out_of_drawer.py b/external/rlbench/rlbench/tasks/take_item_out_of_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69801f5a64ac400afd912aae753b6a6c2807a70
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_item_out_of_drawer.py
@@ -0,0 +1,47 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+
+
+class TakeItemOutOfDrawer(Task):
+
+    def init_task(self) -> None:
+        self._options = ['bottom', 'middle', 'top']
+        self._anchors = [Dummy('waypoint_anchor_%s' % opt)
+                         for opt in self._options]
+        self._joints = [Joint('drawer_joint_%s' % opt)
+                        for opt in self._options]
+        self._waypoint1 = Dummy('waypoint1')
+        self._item = Shape('item')
+        self.register_graspable_objects([self._item])
+        self.register_success_conditions(
+            [DetectedCondition(self._item, ProximitySensor('success'))])
+
+    def init_episode(self, index: int) -> List[str]:
+        option = self._options[index]
+        anchor = self._anchors[index]
+        self._waypoint1.set_position(anchor.get_position())
+        _, _, z_target = anchor.get_position()
+        x, y, z = self._item.get_position()
+        self._item.set_position([x, y, z_target])
+        return ['take item out of the %s drawer' % option,
+                'open the %s drawer and take the cube out' % option,
+                'grasp the %s handle on the drawers, pull the drawer open, and'
+                ' take out what you find inside' % option,
+                'clear out the %s drawer' % option,
+                'make sure the %s drawer is empty' % option,
+                'lift the block out of the %s drawer' % option,
+                'using the handle, open the %s drawer, and remove any items #'
+                'inside' % option]
+
+    def variation_count(self) -> int:
+        return 3
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, - np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/take_lid_off_saucepan.py b/external/rlbench/rlbench/tasks/take_lid_off_saucepan.py
new file mode 100644
index 0000000000000000000000000000000000000000..22978b6283f3be0e64427dfec6c58d65c3767729
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_lid_off_saucepan.py
@@ -0,0 +1,39 @@
+from typing import List
+
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import DetectedCondition, ConditionSet, \
+    GraspedCondition
+from rlbench.backend.task import Task
+
+
+class TakeLidOffSaucepan(Task):
+
+    def init_task(self) -> None:
+        self.lid = Shape('saucepan_lid_grasp_point')
+        self.success_detector = ProximitySensor('success')
+        self.register_graspable_objects([self.lid])
+        cond_set = ConditionSet([
+            GraspedCondition(self.robot.gripper, self.lid),
+            DetectedCondition(self.lid, self.success_detector)
+        ])
+        self.register_success_conditions([cond_set])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take lid off the saucepan',
+                'using the handle, lift the lid off of the pan',
+                'remove the lid from the pan',
+                'grip the saucepan\'s lid and remove it from the pan',
+                'leave the pan open',
+                'uncover the saucepan']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def reward(self) -> float:
+        grasp_lid_reward = -np.linalg.norm(
+            self.lid.get_position() - self.robot.arm.get_tip().get_position())
+        lift_lid_reward = -np.linalg.norm(
+            self.lid.get_position() - self.success_detector.get_position())
+        return grasp_lid_reward + lift_lid_reward
diff --git a/external/rlbench/rlbench/tasks/take_money_out_safe.py b/external/rlbench/rlbench/tasks/take_money_out_safe.py
new file mode 100644
index 0000000000000000000000000000000000000000..7845cecb2397c2609ef0f182ca61e3bd4d5f1666
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_money_out_safe.py
@@ -0,0 +1,114 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+NUM_SHELVES_IN_SAFE = 3
+
+
+class TakeMoneyOutSafe(Task):
+
+    def init_task(self) -> None:
+        self.shelf = {0: 'bottom', 1: 'middle', 2: 'top'}
+        self.shelf_alt = {0: 'first', 1: 'second', 2: 'third'}
+        self.money_list = [Shape('dollar_stack%d' % i) for i in range(3)]
+        self.register_graspable_objects(self.money_list)
+        self.success_conditions = [NothingGrasped(self.robot.gripper)]
+
+        self.w1 = Dummy('waypoint1')
+        self.w1_rel_pos = [-2.7287 * 10 ** (-4), -2.3246 * 10 ** (-6),
+                           +4.5627 * 10 ** (-2)]
+        self.w1_rel_ori = [-3.1416, 7.2824 * 10 ** (-1), -2.1265 * 10 ** (-2)]
+        self.w3 = Dummy('waypoint3')
+        self.place_boundary = Shape('placement_boundary')
+        self.pick_boundary = Shape('money_boundary')
+        self.safe = Shape('safe_body')
+        self.money_ori = self.money_list[0].get_orientation()
+
+    def init_episode(self, index: int) -> List[str]:
+        self.target_shelf = index
+        target_dummy_name = 'dummy_shelf' + str(self.target_shelf)
+        target_pos_dummy = Dummy(target_dummy_name)
+        target_pos = target_pos_dummy.get_position()
+        target_ori = target_pos_dummy.get_orientation()
+        self.w1.set_position(target_pos, reset_dynamics=False)
+        self.w1.set_orientation(target_ori, reset_dynamics=False)
+        b_place = SpawnBoundary([self.place_boundary])
+        b_place.sample(self.w3, min_rotation=(0.0, 0.0, -np.pi / 12),
+                       max_rotation=(0.0, 0.0, +np.pi / 12), min_distance=0)
+        self.success_detector = ProximitySensor('success_detector')
+        while len(self.success_conditions) > 1:
+            self.success_conditions.pop()
+        self.success_conditions.append(
+            DetectedCondition(self.money_list[self.target_shelf],
+                              self.success_detector)
+        )
+        self.register_success_conditions(self.success_conditions)
+        # self.w1.set_parent(target_pos_dummy, keep_in_place=True)
+        rel_target_pos = self.w1.get_position(
+            relative_to=self.money_list[index])
+        rel_target_ori = self.w1.get_orientation(
+            relative_to=self.money_list[index]
+        )
+        b_pick = SpawnBoundary([self.pick_boundary])
+        b_pick.sample(self.money_list[index],
+                      min_rotation=(0.0, 0.0, -np.pi / 10),
+                      max_rotation=(0.0, 0.0, 0.0), min_distance=0)
+
+        for m in self.money_list:
+            b_pick.sample(m,
+                          min_rotation=(0.0, 0.0, -np.pi/10),
+                          max_rotation=(0.0, 0.0, 0.0), min_distance=0)
+
+        self.w1.set_position(rel_target_pos, relative_to=self.money_list[index],
+                             reset_dynamics=False)
+        self.w1.set_orientation(rel_target_ori,
+                                relative_to=self.money_list[index],
+                                reset_dynamics=False)
+
+        """
+        if self.target_shelf == 0:
+            return ['take the money out of the bottom shelf and place it on '
+                    'the table']
+        elif self.target_shelf == 1:
+            return ['take the money out of the middle shelf and place it on '
+                    'the table']
+        elif self.target_shelf == 2:
+            return ['take the money out of the top shelf and place it on '
+                    'the table']
+        else:
+            raise ValueError('Invalid target_shelf index, should not be here')
+            return -1
+        """
+
+        return ['take the money out of the %s shelf and place it on the '
+                'table' % self.shelf[index],
+                'take the stack of money out of the %s shelf and place it on '
+                'the table' % self.shelf_alt[index],
+                'take one of the stacks of money out of the %s bit of the safe'
+                % self.shelf[index],
+                'take the money off of the %s shelf of the safe'
+                % self.shelf_alt[index],
+                'grasp the bank notes in the %s and remove it from the safe'
+                % self.shelf[index],
+                'get the money from the %s shelf' % self.shelf_alt[index],
+                'retrieve the stack of bank notes from the %s of the safe'
+                % self.shelf[index],
+                'locate the money on the %s shelf, grasp it, remove if from the'
+                ' safe, and set it on the table' % self.shelf[index],
+                'put the money on the %s shelf down on the table'
+                % self.shelf_alt[index]]
+
+    def variation_count(self) -> int:
+        return NUM_SHELVES_IN_SAFE
+
+    def cleanup(self) -> None:
+        for m in self.money_list:
+            m.set_orientation(self.money_ori, reset_dynamics=False)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return (0.0, 0.0, -0.5 * np.pi), (0.0, 0.0, +0.5 * np.pi)
diff --git a/external/rlbench/rlbench/tasks/take_off_weighing_scales.py b/external/rlbench/rlbench/tasks/take_off_weighing_scales.py
new file mode 100644
index 0000000000000000000000000000000000000000..c471bcce72c471b3a8ce9e36f4673239ba309903
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_off_weighing_scales.py
@@ -0,0 +1,90 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+UNIQUE_PEPPERS_TO_TAKE_OFF = 3
+
+
+class TakeOffWeighingScales(Task):
+
+    def init_task(self) -> None:
+        self.needle = Shape('scales_meter_needle')
+        self.needle_pivot = Shape('scales_meter_pivot')
+        self.top_plate = Shape('scales_tray_visual')
+        self.joint = Joint('scales_joint')
+        _, _, starting_z = self.top_plate.get_position()
+        self.top_plate_starting_z = starting_z
+        self.needle_starting_ori = self.needle.get_orientation(
+            relative_to=self.needle_pivot)
+        self.peppers = [Shape('pepper%d' % i) for i in range(3)]
+        self.register_graspable_objects(self.peppers)
+        self.boundary = Shape('peppers_boundary')
+        self.success_detector = ProximitySensor('success_detector')
+        self.success_conditions = [NothingGrasped(self.robot.gripper)]
+        self.w0 = Dummy('waypoint0')
+        self.w0_rel_pos = self.w0.get_position(relative_to=self.peppers[0])
+        self.w0_rel_ori = self.w0.get_orientation(relative_to=self.peppers[0])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._variation_index = index
+        self.target_pepper_index = index
+        while len(self.success_conditions) > 1:
+            self.success_conditions.pop()
+        self.success_conditions.append(DetectedCondition(
+            self.peppers[self.target_pepper_index], self.success_detector))
+        self.register_success_conditions(self.success_conditions)
+        b = SpawnBoundary([self.boundary])
+        for p in self.peppers:
+            b.sample(p, ignore_collisions=False, min_distance=0.09,
+                     min_rotation=(0.00, 0.00, -3.14),
+                     max_rotation=(0.00, 0.00, +3.14)
+                     )
+        self.w0.set_position(self.w0_rel_pos,
+                             relative_to=self.peppers[
+                                 self.target_pepper_index],
+                             reset_dynamics=False)
+        self.w0.set_orientation(self.w0_rel_ori,
+                                relative_to=self.peppers[
+                                    self.target_pepper_index],
+                                reset_dynamics=False)
+        index_dic = {0: 'green', 1: 'red', 2: 'yellow'}
+        if self.target_pepper_index in range(3):
+            return [
+                'remove the %s pepper from the weighing scales and place it '
+                'on the table' % index_dic[self.target_pepper_index],
+                'take the %s pepper off of the scales'
+                % index_dic[self.target_pepper_index],
+                'lift the %s pepper off of the tray and set it down on the '
+                'table' % index_dic[self.target_pepper_index],
+                'grasp the %s pepper and move it to the table top'
+                % index_dic[self.target_pepper_index],
+                'take the %s object off of the scales tray'
+                % index_dic[self.target_pepper_index],
+                'put the %s item on the item'
+                % index_dic[self.target_pepper_index]]
+        else:
+            raise ValueError('Invalid pepper index, should not be here')
+
+    def variation_count(self) -> int:
+        return UNIQUE_PEPPERS_TO_TAKE_OFF
+
+    def step(self) -> None:
+        _, _, pos_z = self.top_plate.get_position()
+        dz = self.top_plate_starting_z - pos_z
+        d_alpha = -130 * dz
+        new_needle_ori = [self.needle_starting_ori[0] + d_alpha,
+                          self.needle_starting_ori[1],
+                          self.needle_starting_ori[2]]
+
+        self.needle.set_orientation(new_needle_ori,
+                                    relative_to=self.needle_pivot,
+                                    reset_dynamics=False)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -0.25 * np.pi], [0.0, 0.0, +0.25 * np.pi]
diff --git a/external/rlbench/rlbench/tasks/take_plate_off_colored_dish_rack.py b/external/rlbench/rlbench/tasks/take_plate_off_colored_dish_rack.py
new file mode 100644
index 0000000000000000000000000000000000000000..72d9dde88d0a6e9c5d0f3a44f35aec5e86b9b720
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_plate_off_colored_dish_rack.py
@@ -0,0 +1,43 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+OPTIONS = ['black', 'red', 'purple']
+
+
+class TakePlateOffColoredDishRack(Task):
+
+    def init_task(self) -> None:
+        self.plate = Shape('plate')
+        self.success_poses = [Dummy('success_pos%d' % i)
+                              for i in range(3)]
+        self.register_graspable_objects([self.plate])
+        self.register_success_conditions([
+            DetectedCondition(
+                self.plate, ProximitySensor('success_source'), negated=True),
+            DetectedCondition(self.plate, ProximitySensor('success_target')),
+            NothingGrasped(self.robot.gripper)
+        ])
+
+    def init_episode(self, index: int) -> List[str]:
+        option = OPTIONS[index]
+        target_pos = self.success_poses[index]
+        x, y, _ = target_pos.get_position()
+        _, _, z = self.plate.get_position()
+        self.plate.set_position([x, y, z])
+        return ['take plate off the %s colored rack' % option,
+                'remove the dish from the %s rack' % option,
+                'find the dish placed between the %s spokes of the dish rack '
+                'and drop it on the table' % option,
+                'grasp the plate from the %s part of the dish rack, lift it up'
+                ' off of the rack, and leave it on the table top' % option,
+                'move the plate from the %s rack to the table\'s surface'
+                % option,
+                'lift the plate up off the %s colored rack and drop it onto the'
+                ' table from a considerable height' % option]
+
+    def variation_count(self) -> int:
+        return 3
diff --git a/external/rlbench/rlbench/tasks/take_shoes_out_of_box.py b/external/rlbench/rlbench/tasks/take_shoes_out_of_box.py
new file mode 100644
index 0000000000000000000000000000000000000000..8147ba04560b86438b511e60fc7484b2bdf6e5ed
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_shoes_out_of_box.py
@@ -0,0 +1,34 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class TakeShoesOutOfBox(Task):
+
+    def init_task(self) -> None:
+        shoe1, shoe2 = Shape('shoe1'), Shape('shoe2')
+        self.register_graspable_objects([shoe1, shoe2])
+        success_sensor = ProximitySensor('success_out_box')
+        self.register_success_conditions([
+            DetectedCondition(shoe1, success_sensor),
+            DetectedCondition(shoe2, success_sensor),
+            NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take shoes out of box',
+                'open the shoe box and take the shoes out',
+                'put the shoes found inside the box on the table',
+                'set the shoes down on the table',
+                'pick up the shoes from the box and put them down',
+                'grasp the edge of the box lid to open it, then grasp each shoe'
+                ', lifting up out of the shoe box and leaving them down on the '
+                'table']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -np.pi / 8], [0, 0, np.pi / 8]
diff --git a/external/rlbench/rlbench/tasks/take_toilet_roll_off_stand.py b/external/rlbench/rlbench/tasks/take_toilet_roll_off_stand.py
new file mode 100644
index 0000000000000000000000000000000000000000..ae130fd8750c328d6ee57dbdeafadde7649c30a5
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_toilet_roll_off_stand.py
@@ -0,0 +1,35 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+
+from rlbench.backend.conditions import DetectedCondition
+from rlbench.backend.task import Task
+
+
+class TakeToiletRollOffStand(Task):
+
+    def init_task(self) -> None:
+        roll = Shape('toilet_roll')
+        success_sensor = ProximitySensor('success')
+        self.register_graspable_objects([roll])
+        self.register_success_conditions(
+            [DetectedCondition(roll, success_sensor, negated=True)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take toilet roll off stand',
+                'slide the toilet paper of its stand and set it down',
+                'place the roll onto the table',
+                'get the toilet paper roll and then leave it on the table',
+                'remove the toilet roll from the holder',
+                'get the toilet paper',
+                'grasping the end of the roll, pull if off of the stand, and '
+                'set it on the table']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi), (0.0, 0.0, np.pi * 0.25)
diff --git a/external/rlbench/rlbench/tasks/take_tray_out_of_oven.py b/external/rlbench/rlbench/tasks/take_tray_out_of_oven.py
new file mode 100644
index 0000000000000000000000000000000000000000..8581534ff1399a4a67cb5c33a76967fdc1b65cfc
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_tray_out_of_oven.py
@@ -0,0 +1,36 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class TakeTrayOutOfOven(Task):
+
+    def init_task(self) -> None:
+        success_detector = ProximitySensor('success')
+        tray = Shape('tray')
+        self.register_graspable_objects([tray])
+        self.register_success_conditions(
+            [DetectedCondition(tray, success_detector, negated=True),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take tray out of oven',
+                'open the oven and take the baking tray out',
+                'grasp the handle on the over door, open it, and remove the '
+                'tray from the oven',
+                'get the baking tray from the oven',
+                'get the tray',
+                'take out the tray',
+                'retrieve the oven tray']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('oven_boundary_root')
diff --git a/external/rlbench/rlbench/tasks/take_umbrella_out_of_umbrella_stand.py b/external/rlbench/rlbench/tasks/take_umbrella_out_of_umbrella_stand.py
new file mode 100644
index 0000000000000000000000000000000000000000..4ff9d164acd9c3f27f83849b89342ac827a1fec2
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_umbrella_out_of_umbrella_stand.py
@@ -0,0 +1,26 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+
+
+class TakeUmbrellaOutOfUmbrellaStand(Task):
+    def init_task(self):
+        success_sensor = ProximitySensor('success')
+        umbrella = Shape('umbrella')
+        self.register_graspable_objects([umbrella])
+        self.register_success_conditions(
+            [DetectedCondition(umbrella, success_sensor, negated=True)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take umbrella out of umbrella stand',
+                'grasping the umbrella by its handle, lift it up and out of the'
+                ' stand',
+                'remove the umbrella from the stand',
+                'retrieve the umbrella from the stand',
+                'get the umbrella',
+                'lift the umbrella out of the stand']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/take_usb_out_of_computer.py b/external/rlbench/rlbench/tasks/take_usb_out_of_computer.py
new file mode 100644
index 0000000000000000000000000000000000000000..d8cce324b5f226e9641b695f01500df320d41069
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/take_usb_out_of_computer.py
@@ -0,0 +1,26 @@
+from typing import List
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class TakeUsbOutOfComputer(Task):
+
+    def init_task(self) -> None:
+        usb = Shape('usb')
+        self.register_graspable_objects([usb])
+        self.register_success_conditions(
+            [DetectedCondition(usb, ProximitySensor('success'), negated=True),
+             NothingGrasped(self.robot.gripper)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['take usb out of computer',
+                'remove the usb stick from its port',
+                'retrieve the usb stick',
+                'grasp the usb stick and slide it out of the pc',
+                'get a hold of the usb stick and pull it out of the desktop '
+                'computer']
+
+    def variation_count(self) -> int:
+        return 1
diff --git a/external/rlbench/rlbench/tasks/toilet_seat_down.py b/external/rlbench/rlbench/tasks/toilet_seat_down.py
new file mode 100644
index 0000000000000000000000000000000000000000..7737f7db1f4b5319aa3e9a0731255930f3198483
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/toilet_seat_down.py
@@ -0,0 +1,30 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class ToiletSeatDown(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            JointCondition(Joint('toilet_seat_up_revolute_joint'), 1.7)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['toilet seat down',
+                'put the toilet seat down',
+                'grasping the top of the lid, close the toilet seat',
+                'put the toilet lid down',
+                'leave the toilet seat down',
+                'close the lid on the toilet',
+                'leave the toilet seat down',
+                'lower the toilet seat',
+                'grip the edge of the toilet lid and lower it flat on the '
+                'toilet seat']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -np.pi / 4.], [0.0, 0.0, np.pi / 4.]
diff --git a/external/rlbench/rlbench/tasks/toilet_seat_up.py b/external/rlbench/rlbench/tasks/toilet_seat_up.py
new file mode 100644
index 0000000000000000000000000000000000000000..aa903f41fd9cbeb221c935d8cbdd184f09682895
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/toilet_seat_up.py
@@ -0,0 +1,27 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.joint import Joint
+from rlbench.backend.conditions import JointCondition
+from rlbench.backend.task import Task
+
+
+class ToiletSeatUp(Task):
+
+    def init_task(self) -> None:
+        self.register_success_conditions([
+            JointCondition(Joint('toilet_seat_up_revolute_joint'), 1.40)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['lift toilet seat up',
+                'put the toilet seat up',
+                'leave the lid of the toilet seat in a upright position',
+                'grip the edge of the toilet seat and lift it up to an '
+                'upright position',
+                'leave the toilet lid open',
+                'raise the toilet seat']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -np.pi / 4.], [0.0, 0.0, np.pi / 4.]
diff --git a/external/rlbench/rlbench/tasks/turn_oven_on.py b/external/rlbench/rlbench/tasks/turn_oven_on.py
new file mode 100644
index 0000000000000000000000000000000000000000..378dd1b71668c75b8373f850c349c67293f1648e
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/turn_oven_on.py
@@ -0,0 +1,32 @@
+from typing import List, Tuple
+from pyrep.objects.joint import Joint
+from pyrep.objects.shape import Shape
+from pyrep.objects.object import Object
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition
+
+
+class TurnOvenOn(Task):
+
+    def init_task(self) -> None:
+        knob_joint = Joint('oven_knob_joint')
+        self.register_success_conditions([JointCondition(knob_joint, 1.5)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['turn on the oven',
+                'grip the left most knob on the oven and rotate it anti-'
+                'clockwise to turn the oven on',
+                'turn the left most knob on the oven to switch the oven on',
+                'heat up the oven',
+                'get the oven hot',
+                'preheat the oven',
+                'get the oven heat going']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
+
+    def boundary_root(self) -> Object:
+        return Shape('turn_oven_on_boundary_root')
diff --git a/external/rlbench/rlbench/tasks/turn_tap.py b/external/rlbench/rlbench/tasks/turn_tap.py
new file mode 100644
index 0000000000000000000000000000000000000000..1a506d0e6570d18481953003f181d0c3055c467f
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/turn_tap.py
@@ -0,0 +1,38 @@
+from typing import List
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import JointCondition
+
+OPTIONS = ['left', 'right']
+
+
+class TurnTap(Task):
+
+    def init_task(self) -> None:
+        self.left_start = Dummy('waypoint0')
+        self.left_end = Dummy('waypoint1')
+        self.right_start = Dummy('waypoint5')
+        self.right_end = Dummy('waypoint6')
+        self.left_joint = Joint('left_joint')
+        self.right_joint = Joint('right_joint')
+
+    def init_episode(self, index: int) -> List[str]:
+        option = OPTIONS[index]
+        if option == 'right':
+            self.left_start.set_position(self.right_start.get_position())
+            self.left_start.set_orientation(self.right_start.get_orientation())
+            self.left_end.set_position(self.right_end.get_position())
+            self.left_end.set_orientation(self.right_end.get_orientation())
+            self.register_success_conditions(
+                [JointCondition(self.right_joint, 1.57)])
+        else:
+            self.register_success_conditions(
+                [JointCondition(self.left_joint, 1.57)])
+
+        return ['turn %s tap' % option,
+                'rotate the %s tap' % option,
+                'grasp the %s tap and turn it' % option]
+
+    def variation_count(self) -> int:
+        return 2
diff --git a/external/rlbench/rlbench/tasks/tv_on.py b/external/rlbench/rlbench/tasks/tv_on.py
new file mode 100644
index 0000000000000000000000000000000000000000..3408883274d84c846cbb6b88eacce366303ffb0d
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/tv_on.py
@@ -0,0 +1,45 @@
+from typing import List, Tuple
+
+import numpy as np
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.joint import Joint
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.shape import Shape
+from rlbench.backend.conditions import JointCondition, DetectedCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+from rlbench.backend.task import Task
+
+
+class TvOn(Task):
+
+    def init_task(self) -> None:
+        self._remote = Shape('tv_remote')
+        self.register_graspable_objects([self._remote])
+        self.register_success_conditions([
+            JointCondition(Joint('target_button_joint0'), 0.003),
+            DetectedCondition(Dummy('tv_remote_top'),
+                              ProximitySensor('success0')),
+            DetectedCondition(Dummy('tv_remote_bottom'),
+                              ProximitySensor('success1'))])
+        self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')])
+
+    def init_episode(self, index: int) -> List[str]:
+        self._spawn_boundary.clear()
+        self._spawn_boundary.sample(self._remote)
+        return [
+                'turn on the TV',
+                'point the remote control at the television and turn on the '
+                'television',
+                'pick up the remote and rotate it such that the front of the '
+                'remote is pointed straight at the television, then set the '
+                'remote down and press the power button down in order to switch'
+                ' on the TV',
+                'find the power button at the top of the remote, ensure the '
+                'remote is pointed at the tv, then turn the tv on']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[Tuple[float, float, float],
+                                            Tuple[float, float, float]]:
+        return (0.0, 0.0, -np.pi / 2), (0.0, 0.0, np.pi / 2)
diff --git a/external/rlbench/rlbench/tasks/unplug_charger.py b/external/rlbench/rlbench/tasks/unplug_charger.py
new file mode 100644
index 0000000000000000000000000000000000000000..c670c1bb15120b846161995609eb5c372f597ded
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/unplug_charger.py
@@ -0,0 +1,29 @@
+from typing import List, Tuple
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+
+
+class UnplugCharger(Task):
+
+    def init_task(self) -> None:
+        charger_success = ProximitySensor('charger_success')
+        charger = Shape('charger')
+        self.register_graspable_objects([charger])
+        self.register_success_conditions(
+            [DetectedCondition(charger, charger_success)])
+
+    def init_episode(self, index: int) -> List[str]:
+        return ['unplug charger',
+                'take the charger out of the wall',
+                'grip the black charger and pull it out of its socket',
+                'slide the plug out from the wall',
+                'remove the charger from the mains',
+                'get the charger from the wall plug']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0, 0, -3.14 / 4.], [0, 0, 3.14 / 4.]
diff --git a/external/rlbench/rlbench/tasks/water_plants.py b/external/rlbench/rlbench/tasks/water_plants.py
new file mode 100644
index 0000000000000000000000000000000000000000..d81b356819908504868e4468b3576cd0658fa63c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/water_plants.py
@@ -0,0 +1,59 @@
+from typing import List
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.const import PrimitiveShape
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition
+
+WATER_NUM = 5
+
+
+class WaterPlants(Task):
+
+    def init_task(self) -> None:
+        self.drops = []
+        self.success_sensor = ProximitySensor('success')
+        pour_point = ProximitySensor('pour_point')
+        self.waterer = Shape('waterer')
+        self.head = Shape('head')
+        self.register_graspable_objects([self.waterer])
+        self.pour_point_reached = DetectedCondition(
+            self.head, pour_point)
+
+    def init_episode(self, index: int) -> List[str]:
+        self.register_success_conditions(
+            [DetectedCondition(self.waterer, self.success_sensor)])
+        self.reached = False
+        self.reachedOnce = False
+        return ['water plant',
+                'pick up the watering can by its handle and water the plant',
+                'pour some water on the plant',
+                'the plant needs hydration',
+                'pour water from the watering can into the plant pot',
+                'water the soil']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        if not self.reached:
+            self.reached = self.pour_point_reached.condition_met()[0]
+            if self.reached and not self.reachedOnce:
+                for i in range(WATER_NUM):
+                    drop = Shape.create(PrimitiveShape.CUBOID, mass=0.0001,
+                                        size=[0.005, 0.005, 0.005])
+                    drop.set_color([0.1, 0.1, 0.9])
+                    pos = list(np.random.normal(0, 0.0005, size=(3,)))
+                    drop.set_position(pos,
+                                      relative_to=self.head)
+                    self.drops.append(drop)
+                self.register_success_conditions(
+                    [DetectedCondition(self.drops[i], self.success_sensor) for i
+                     in range(WATER_NUM)])
+                self.reachedOnce = True
+
+    def cleanup(self) -> None:
+        for d in self.drops:
+            d.remove()
+        self.drops = []
diff --git a/external/rlbench/rlbench/tasks/weighing_scales.py b/external/rlbench/rlbench/tasks/weighing_scales.py
new file mode 100644
index 0000000000000000000000000000000000000000..d239111b5f441bd3655bfe3aa628a9dc7a34042c
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/weighing_scales.py
@@ -0,0 +1,94 @@
+from typing import List, Tuple
+import numpy as np
+from pyrep.objects.shape import Shape
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.proximity_sensor import ProximitySensor
+from pyrep.objects.joint import Joint
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import DetectedCondition, NothingGrasped
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+UNIQUE_PEPPERS_TO_PLACE = 3
+
+
+class WeighingScales(Task):
+
+    def init_task(self) -> None:
+        self.needle = Shape('scales_meter_needle')
+        self.needle_pivot = Shape('scales_meter_pivot')
+        self.top_plate = Shape('scales_tray_visual')
+        self.joint = Joint('scales_joint')
+
+        _, _, starting_z = self.top_plate.get_position()
+        self.top_plate_starting_z = starting_z
+        self.needle_starting_ori = self.needle.get_orientation(
+            relative_to=self.needle_pivot)
+
+        self.peppers = [Shape('pepper%d' % i) for i in range(3)]
+        self.register_graspable_objects(self.peppers)
+
+        self.boundary = Shape('peppers_boundary')
+
+        self.success_detector = ProximitySensor('success_detector')
+        self.needle_detector = ProximitySensor('needle_sensor')
+        self.success_conditions = [NothingGrasped(self.robot.gripper),
+                                   DetectedCondition(
+                                       self.needle, self.needle_detector)
+                                   ]
+
+        self.w0 = Dummy('waypoint0')
+        self.w0_rel_pos = [+2.6203 * 10 ** (-3), -1.7881 * 10 ** (-7),
+                           +1.5197 * 10 ** (-1)]
+        self.w0_rel_ori = [-3.1416, -1.7467 * 10 ** (-2), -3.1416]
+
+    def init_episode(self, index: int) -> List[str]:
+        self.target_pepper_index = index
+        while len(self.success_conditions) > 2:
+            self.success_conditions.pop()
+        self.success_conditions.append(DetectedCondition(
+            self.peppers[self.target_pepper_index], self.success_detector))
+        self.register_success_conditions(self.success_conditions)
+        b = SpawnBoundary([self.boundary])
+        for p in self.peppers:
+            b.sample(p, ignore_collisions=False, min_distance=0.12,
+                     min_rotation=(0.00, 0.00, -3.14),
+                     max_rotation=(0.00, 0.00, +3.14)
+                     )
+
+        self.w0.set_position(self.w0_rel_pos,
+                             relative_to=self.peppers[
+                                 self.target_pepper_index],
+                             reset_dynamics=False)
+        self.w0.set_orientation(self.w0_rel_ori,
+                                relative_to=self.peppers[
+                                    self.target_pepper_index],
+                                reset_dynamics=False)
+        pepper = {0: 'green', 1: 'red', 2: 'yellow'}
+
+        return ['weigh the %s pepper' % pepper[index],
+                'pick up the %s pepper and set it down on the weighing scales'
+                % pepper[index],
+                'put the %s pepper on the scales' % pepper[index],
+                'place the %s pepper onto the scales tray' % pepper[index],
+                'lift up the %s pepper onto the weighing scales'
+                % pepper[index],
+                'grasp the %s pepper from above and lower it onto the tray'
+                % pepper[index]]
+
+    def variation_count(self) -> int:
+        return UNIQUE_PEPPERS_TO_PLACE
+
+    def step(self):
+        _, _, pos_z = self.top_plate.get_position()
+        dz = self.top_plate_starting_z - pos_z
+        d_alpha = -120 * dz
+        new_needle_ori = [self.needle_starting_ori[0] + d_alpha,
+                          self.needle_starting_ori[1],
+                          self.needle_starting_ori[2]]
+
+        self.needle.set_orientation(new_needle_ori,
+                                    relative_to=self.needle_pivot,
+                                    reset_dynamics=False)
+
+    def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
+        return [0.0, 0.0, -0.25 * np.pi], [0.0, 0.0, +0.25 * np.pi]
diff --git a/external/rlbench/rlbench/tasks/wipe_desk.py b/external/rlbench/rlbench/tasks/wipe_desk.py
new file mode 100644
index 0000000000000000000000000000000000000000..2a000c05dcdfc7c54c67178250ac0272dc6f20f0
--- /dev/null
+++ b/external/rlbench/rlbench/tasks/wipe_desk.py
@@ -0,0 +1,62 @@
+from typing import List
+from pyrep.const import PrimitiveShape
+from pyrep.objects.shape import Shape
+from pyrep.objects.proximity_sensor import ProximitySensor
+from rlbench.backend.task import Task
+from rlbench.backend.conditions import EmptyCondition
+from rlbench.backend.spawn_boundary import SpawnBoundary
+
+DIRT_POINTS = 50
+
+
+class WipeDesk(Task):
+
+    def init_task(self) -> None:
+        self.dirt_spots = []
+        self.sponge = Shape('sponge')
+        self.sensor = ProximitySensor('sponge_sensor')
+        self.register_graspable_objects([self.sponge])
+
+        boundaries = [Shape('dirt_boundary')]
+        _, _, self.z_boundary = boundaries[0].get_position()
+        self.b = SpawnBoundary(boundaries)
+
+    def init_episode(self, index: int) -> List[str]:
+        self._place_dirt()
+        self.register_success_conditions([EmptyCondition(self.dirt_spots)])
+        return ['wipe dirt off the desk',
+                'use the sponge to clean up the desk',
+                'remove the dirt from the desk',
+                'grip the sponge and wipe it back and forth over any dirt you '
+                'see',
+                'clean up the mess',
+                'wipe the dirt up']
+
+    def variation_count(self) -> int:
+        return 1
+
+    def step(self) -> None:
+        for d in self.dirt_spots:
+            if self.sensor.is_detected(d):
+                self.dirt_spots.remove(d)
+                d.remove()
+
+    def cleanup(self) -> None:
+        for d in self.dirt_spots:
+            d.remove()
+        self.dirt_spots = []
+
+    def _place_dirt(self):
+        for i in range(DIRT_POINTS):
+            spot = Shape.create(type=PrimitiveShape.CUBOID,
+                                size=[.005, .005, .001],
+                                mass=0, static=True, respondable=False,
+                                renderable=True,
+                                color=[0.58, 0.29, 0.0])
+            spot.set_parent(self.get_base())
+            spot.set_position([-1, -1, self.z_boundary + 0.001])
+            self.b.sample(spot, min_distance=0.00,
+                          min_rotation=(0.00, 0.00, 0.00),
+                          max_rotation=(0.00, 0.00, 0.00))
+            self.dirt_spots.append(spot)
+        self.b.clear()
diff --git a/external/rlbench/rlbench/utils.py b/external/rlbench/rlbench/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..1f96ee1f78d6dd9c4886dd0412711ea76874c82e
--- /dev/null
+++ b/external/rlbench/rlbench/utils.py
@@ -0,0 +1,199 @@
+import importlib
+import pickle
+
+from itertools import product            
+import os
+from os import listdir
+from os.path import join, exists
+from typing import List
+
+import numpy as np
+from PIL import Image
+from natsort import natsorted
+from pyrep.objects import VisionSensor
+
+from rlbench.backend.const import *
+from rlbench.backend.utils import image_to_float_array, rgb_handles_to_mask
+from rlbench.demo import Demo
+from rlbench.observation_config import ObservationConfig
+
+import logging
+
+
+class InvalidTaskName(Exception):
+    pass
+
+
+def name_to_task_class(task_file: str, bimanual=False):
+    name = task_file.replace('.py', '')
+    class_name = ''.join([w[0].upper() + w[1:] for w in name.split('_')])
+    try:
+        if bimanual:
+            mod = importlib.import_module("rlbench.bimanual_tasks.%s" % name)
+        else:
+            mod = importlib.import_module("rlbench.tasks.%s" % name)
+        mod = importlib.reload(mod)
+    except ModuleNotFoundError as e:
+        raise InvalidTaskName(
+            "The task file '%s' does not exist or cannot be compiled."
+            % name) from e
+    try:
+        task_class = getattr(mod, class_name)
+    except AttributeError as e:
+        raise InvalidTaskName(
+            "Cannot find the class name '%s' in the file '%s'."
+            % (class_name, name)) from e
+    return task_class
+
+
+def get_stored_demos(amount: int, image_paths: bool, dataset_root: str,
+                     variation_number: int, task_name: str,
+                     obs_config: ObservationConfig,
+                     random_selection: bool = True,
+                     from_episode_number: int = 0) -> List[Demo]:
+
+    task_root = join(dataset_root, task_name)
+    if not exists(task_root):
+        raise RuntimeError("Can't find the demos for %s at: %s" % (
+            task_name, task_root))
+
+    if variation_number == -1:
+        # All variations
+        examples_path = join(
+            task_root, VARIATIONS_ALL_FOLDER,
+            EPISODES_FOLDER)
+        examples = listdir(examples_path)
+    else:
+        # Sample an amount of examples for the variation of this task
+        examples_path = join(
+            task_root, VARIATIONS_FOLDER % variation_number,
+            EPISODES_FOLDER)
+        examples = listdir(examples_path)
+
+    # hack: ignore .DS_Store files from macOS zips
+    examples = [e for e in examples if '.DS_Store' not in e]
+
+    if amount == -1:
+        amount = len(examples)
+    if amount > len(examples):
+        raise RuntimeError(
+            'You asked for %d examples, but only %d were available.' % (
+                amount, len(examples)))
+    
+    if amount > len(examples[from_episode_number:]):
+        raise RuntimeError('You specified from_episode_number=%d, but only %d examples were available', from_episode_number,  len(examples))
+
+    if random_selection:
+        selected_examples = np.random.choice(examples, amount, replace=False)
+    else:
+        selected_examples = natsorted(
+            examples)[from_episode_number:from_episode_number+amount]
+
+    # Process these examples (e.g. loading observations)
+    demos = []
+    for example in selected_examples:
+        example_path = join(examples_path, example)
+        with open(join(example_path, LOW_DIM_PICKLE), 'rb') as f:
+            obs = pickle.load(f)
+
+        if variation_number == -1:
+            with open(join(example_path, VARIATION_NUMBER), 'rb') as f:
+                obs.variation_number = pickle.load(f)
+        else:
+            obs.variation_number = variation_number
+
+        # language description
+        episode_descriptions_f = join(example_path, VARIATION_DESCRIPTIONS)
+        if exists(episode_descriptions_f):
+            with open(episode_descriptions_f, 'rb') as f:
+                descriptions = pickle.load(f)
+        else:
+            descriptions = ["unknown task description"]
+
+        num_steps = len(obs)
+
+        camera_names = obs_config.camera_configs.keys()
+
+        data_types = ["rgb", "depth", "mask"]
+        full_camera_names = map(lambda x: ('_'.join(x), x[-1]), product(camera_names, data_types))
+        
+        for camera_name, _ in full_camera_names:
+            data_path = os.path.join(example_path, camera_name)
+            if num_steps != len(os.listdir(data_path)):
+                print(f"not sufficent data points {data_path} expected {num_steps} was {len(os.listdir(data_path))}")
+                #raise RuntimeError('Broken dataset assumption')
+
+        for i in range(num_steps):
+            # descriptions
+            obs[i].misc['descriptions'] = descriptions
+           
+            for camera_name, camera_config in obs_config.camera_configs.items():                
+
+                if camera_config.rgb:
+                    data_path = os.path.join(example_path, f"{camera_name}_rgb")
+                    image_name = f"rgb_{i:04d}.png"
+                    image_path = os.path.join(data_path, image_name)
+                    image = np.array(_resize_if_needed(Image.open(image_path), camera_config.image_size))
+                    obs[i].perception_data[f"{camera_name}_rgb"] = image
+                
+                if camera_config.depth or camera_config.point_cloud:
+                    data_path = os.path.join(example_path, f"{camera_name}_depth")
+                    image_name = f"depth_{i:04d}.png"
+                    image_path = os.path.join(data_path, image_name)
+                    image = image_to_float_array( _resize_if_needed(Image.open(image_path), camera_config.image_size),DEPTH_SCALE)
+
+                    if camera_config.depth:
+                        if camera_config.depth_in_meters:
+                            near = obs[i].misc[f'{camera_name}_camera_near']
+                            far = obs[i].misc[f'{camera_name}_camera_far']
+                            depth_image_m = near + image * (far - near)
+                            obs[i].perception_data[f"{camera_name}_depth"] = camera_config.depth_noise.apply(depth_image_m)
+                        else:                        
+                            obs[i].perception_data[f"{camera_name}_depth"] = camera_config.depth_noise.apply(image)
+
+                    if camera_config.point_cloud:
+                        near = obs[i].misc[f'{camera_name}_camera_near']
+                        far = obs[i].misc[f'{camera_name}_camera_far']
+                        depth_image_m = near + image * (far - near)
+
+                        obs[i].perception_data[f"{camera_name}_point_cloud"] = VisionSensor.pointcloud_from_depth_and_camera_params(
+                        depth_image_m,
+                        obs[i].misc[f'{camera_name}_camera_extrinsics'],
+                        obs[i].misc[f'{camera_name}_camera_intrinsics'])
+               
+
+                if camera_config.mask:
+                    data_path = os.path.join(example_path, f"{camera_name}_mask")
+                    image_name = f"mask_{i:04d}.png"
+                    image_path = os.path.join(data_path, image_name)
+                    obs[i].perception_data[f"{camera_name}_mask"] = rgb_handles_to_mask(np.array(_resize_if_needed(Image.open(image_path), camera_config.image_size)))
+          
+
+            # Remove low dim info if necessary
+            if not obs_config.joint_velocities:
+                obs[i].joint_velocities = None
+            if not obs_config.joint_positions:
+                obs[i].joint_positions = None
+            if not obs_config.joint_forces:
+                obs[i].joint_forces = None
+            if not obs_config.gripper_open:
+                obs[i].gripper_open = None
+            if not obs_config.gripper_pose:
+                obs[i].gripper_pose = None
+            if not obs_config.gripper_joint_positions:
+                obs[i].gripper_joint_positions = None
+            if not obs_config.gripper_touch_forces:
+                obs[i].gripper_touch_forces = None
+            if not obs_config.task_low_dim_state:
+                obs[i].task_low_dim_state = None
+
+
+
+        demos.append(obs)
+    return demos
+
+
+def _resize_if_needed(image, size):
+    if image.size[0] != size[0] or image.size[1] != size[1]:
+        image = image.resize(size)
+    return image
diff --git a/external/rlbench/tests/demos/__init__.py b/external/rlbench/tests/demos/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/external/rlbench/tests/demos/test_demos.py b/external/rlbench/tests/demos/test_demos.py
new file mode 100644
index 0000000000000000000000000000000000000000..4d6ed63b2ef7d93ed1670b278fb10fd1d8f0180d
--- /dev/null
+++ b/external/rlbench/tests/demos/test_demos.py
@@ -0,0 +1,63 @@
+import unittest
+import rlbench.backend.task as task
+import os
+from rlbench.backend.utils import task_file_to_task_class
+from pyrep import PyRep
+from pyrep.robots.arms.panda import Panda
+from pyrep.robots.end_effectors.panda_gripper import PandaGripper
+from rlbench.backend.const import TTT_FILE
+from tools.task_validator import task_smoke
+from rlbench.observation_config import ObservationConfig
+from rlbench.backend.scene import Scene
+from rlbench.backend.robot import Robot
+from rlbench.backend.robot import UnimanualRobot
+
+
+TASKS = [t for t in os.listdir(task.TASKS_PATH)
+         if t != '__init__.py' and t.endswith('.py')]
+DIR_PATH = os.path.dirname(os.path.abspath(__file__))
+
+# Task does work, but fails demos often. These should eventually be improved.
+FLAKY_TASKS = ['put_all_groceries_in_cupboard', 'take_cup_out_from_cabinet',
+               'slide_cabinet_open_and_place_cups', 'slide_cabinet_open']
+
+
+class TestTasks(unittest.TestCase):
+    """Tests all of the tasks via the task_validator tool.
+
+    Given that unit tests shouldn't take forever to run, we only limit
+    each validation run to 1 variation. In practice, a newly created task
+    should be validated for all variations. Despite this, the test still takes
+    a while to run.
+    """
+
+    def test_run_task_validator(self):
+        for task_file in TASKS:
+            test_name = task_file.split('.py')[0]
+            with self.subTest(task=test_name):
+                if test_name in FLAKY_TASKS:
+                    self.skipTest('Flaky task.')
+                sim = PyRep()
+                ttt_file = os.path.join(
+                    DIR_PATH, '..', '..', 'rlbench', TTT_FILE)
+                sim.launch(ttt_file, headless=True)
+                sim.step_ui()
+                sim.set_simulation_timestep(50.0)
+                sim.step_ui()
+                sim.start()
+                robot = UnimanualRobot(Panda(), PandaGripper())
+                obs = ObservationConfig()
+                obs.set_all(False)
+                scene = Scene(sim, robot, obs)
+                sim.start()
+                task_class = task_file_to_task_class(task_file)
+                active_task = task_class(sim, robot)
+                try:
+                    task_smoke(active_task, scene, variation=-1,
+                               max_variations=2, success=0.25)
+                except Exception as e:
+                    sim.stop()
+                    sim.shutdown()
+                    raise e
+                sim.stop()
+                sim.shutdown()
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