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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5cb1e5f5dbf7e55b3e0c13c7ff5a41867184fd8e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob857">
+  <link name="random_obj_857">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0960"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="857.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.29 0.66 0.18 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="857_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c867e421de68f5cd8bf4e5ac56947f73b5d2b4f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/857/857_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8bccf68452cd97ab215827a720d3f597e5a501c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 858.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd794c3850366265c446a29ca4e7fe2c1e90f55d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d30db902f09ecdce4e0834942a901713c25668eb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob858">
+  <link name="random_obj_858">
+    <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="0.1440"/>
+      <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="858.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.43 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="858_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234cd026112ba45cf7a6ff5c901bff1aaf87b9d1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/858/858_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..45277be4abe31302df87c1f3046ecf4b4cd0810d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 859_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.406943 0.210592 0.483465
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 859.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830e1c3ec3046e5c7febebbe5d05736a321ef4b7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.obj
@@ -0,0 +1,5420 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 859.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8b0f84977787a6009912acdece39518a39025d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob859">
+  <link name="random_obj_859">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1071"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="859.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.62 0.24 0.21 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="859_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/859/859_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2a0e08156bc113a5e886931f49d76c857c9826
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d0ab6d66397a90d37bef82ec5846d7c21971add
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6864d6c37ac140f78cc1f9d2cd3dd3ddbc5a61f9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..732aa03876bee25d36637dcc76b0deb01115f3e7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob860">
+  <link name="random_obj_860">
+    <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="0.1563"/>
+      <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="860.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.80 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="860_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/860/860_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb254f82a8e2e6373ec92aed015735767788e08
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbdb4b73471e8ecd4f8a37a098af988c2b8489e8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 861_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.510852 0.283839 0.589713
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 861.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f0f0bada7525fd0a75985365dc592b535133a0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.obj
@@ -0,0 +1,42 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 861.mtl
+o 861_Cube.3480
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+usemtl 861_mtl
+s off
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..44fa61bdb3d2fe3bd6ca9c33de3f7dc164f5ed8c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob861">
+  <link name="random_obj_861">
+    <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="0.0710"/>
+      <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="861.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.01 0.96 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="861_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc4b08143e1f431cd0fc7a079c69e1327138dae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/861/861_coll.obj
@@ -0,0 +1,30 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26dabce71473af7a8fac2f4d3edfbcc7307bfc88
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 862_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92acb13ccb2a5910032f0b2d431064e0d0f452fd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.obj
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f9749fd8d00672fe19c9959c097519268880756a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob862">
+  <link name="random_obj_862">
+    <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="862.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.91 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="862_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862_coll.mtl
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+# 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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de15c20a0e2984fafacbffbc900e1a953d77917
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/862/862_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..673286dd8825adf881c016fab0892a8da46063e3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee6e354978499af36f357243c9c9e658fcbd9c7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dfe18d7e996e53bb475731c754184c4e59da2c42
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob863">
+  <link name="random_obj_863">
+    <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="0.0519"/>
+      <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="863.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.13 0.45 0.88 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="863_coll.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f9d97b36b090b2d58c7d19825eef00f51ba4ac
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/863/863_coll.obj
@@ -0,0 +1,573 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..002c5a5d8dbc6113e37c4dd366314f943e55b080
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob864">
+  <link name="random_obj_864">
+    <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="0.0675"/>
+      <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="864.obj" scale="0.0060 0.0060 0.0060"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.76 0.70 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="864_coll.obj" scale="0.0060 0.0060 0.0060"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eef2a9dde6e66063cef6f15d58b698726b19937
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/864/864_coll.obj
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+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd17e49b4b3898a2e9409934284526088717d670
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob865">
+  <link name="random_obj_865">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0812"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="865.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.33 0.92 0.89 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="865_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4261b58b88566d4e99312f014e0e21e176213807
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/865/865_coll.obj
@@ -0,0 +1,567 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f1e4651a2320e4f3859fd265057e0670f35b38d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 866_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.193204 0.564639 0.283711
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 866.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1280e8e4a9e6fff286ecf1e6e31d341691f27878
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.obj
@@ -0,0 +1,5002 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 866.mtl
+o 866_Cube.3500
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a40dd1c328ff05ef4c4bd08dbca976ece665cae1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob866">
+  <link name="random_obj_866">
+    <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="0.1217"/>
+      <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="866.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.30 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="866_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af65f2774a19ffcbdf02a9f5561dff899d8f0226
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/866/866_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ddbab8231114e01944665028413bb18b14a528
--- /dev/null
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+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d3a755c47ec2caf74fee8ab592442b84d9f969
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4213e0c54501f4ed22419d07c6df76a238ee6a22
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob867">
+  <link name="random_obj_867">
+    <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="0.0820"/>
+      <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="867.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.40 0.60 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="867_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb4cb0aae60cd461b1b5e57a3cb637a24c31bcb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/867/867_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5151978f218693fe438759801841ce4be697e47b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 868_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.238146 0.027099 0.531580
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 868.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f46ba8e4d7a7f29c0e9e0fa31464f623ae495e2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.obj
@@ -0,0 +1,5087 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 868.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16329a513850c058dc8be3d12144a4ef5ca42910
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob868">
+  <link name="random_obj_868">
+    <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="0.1446"/>
+      <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="868.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.57 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="868_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ebcf0a5c56c1ba320312466db1ad15e14388b8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/868/868_coll.obj
@@ -0,0 +1,858 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa174f55c773fb5e406c0131a7ca59e696446792
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 869_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.405227 0.535943 0.245478
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 869.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ed5476822dfac27e2bbfed88fdd7a3aeae2138
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.obj
@@ -0,0 +1,411 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..372ffc2e4f3d773ac971da406ae2015db8ee2182
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob869">
+  <link name="random_obj_869">
+    <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="0.0753"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="869.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.10 0.72 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="869_coll.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869_coll.mtl
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+# Material Count: 1
+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/869/869_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b926304becbab0d14dac8b9f6056f55df621a11
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06eb574b52d62e4352976a608ea7bdbe3f7f360c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 870_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.254209 0.061463 0.338303
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 870.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea0c898d7c63363414a4fa51790f7f42aa1e2cb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.obj
@@ -0,0 +1,4851 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 870.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7db9bcbc45c1f00532801fe94da2fe659b99b4a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob870">
+  <link name="random_obj_870">
+    <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="0.0959"/>
+      <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="870.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.24 0.35 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="870_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/870/870_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deaf0351b1b9a0daddaa33544337f2efb4a8e392
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35bf275a1fe9575bab60696048ac9a766a8d5daa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 871_mtl
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+illum 2
+map_Kd 871.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c795714c786a83ef0bd9d468c86fe68f9cf884ab
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.obj
@@ -0,0 +1,174 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..359f7f6a4a0380f928098558a8a490eab6995dd0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob871">
+  <link name="random_obj_871">
+    <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="0.0993"/>
+      <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="871.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.71 0.62 0.44 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="871_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f047de05f17e422b002923384b36e3178247f5e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/871/871_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c92ba6f1e12aa5226cf672ae09c9e5321159f59d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bdccc536c5a0c77cf90fb02e6f3da894c26094
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3d8670a0c80607a369c7e830fe06cd4c50b1d6e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob872">
+  <link name="random_obj_872">
+    <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="0.0996"/>
+      <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="872.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.82 0.35 0.49 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="872_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/872/872_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa77bef89f3eef78933657bdb6dda9c34ceca706
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9bae99be0266cb4dc54ba7b1f3d40f5e2503148e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d8965f42214fcf8f6c72fa22ae6855b4efbe3e5
--- /dev/null
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new file mode 100644
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Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e77e1571eeabca12d01f5762ffcca0089056b2d4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob873">
+  <link name="random_obj_873">
+    <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="0.1028"/>
+      <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="873.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.12 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="873_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c810ef5f1621218d9defa8c519ef9b59f9f00e4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/873/873_coll.obj
@@ -0,0 +1,591 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e46c1eb9624f3628c199a2bfa836c5ddf9af57de
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 874_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..de70a74a7ab4af82b9b0c71e8df6bd4e4667eca8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874.urdf
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+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8211fa2f4fb639d6d47e78838ba0d87a9123a141
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/874/874_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4f805be9ae03d13e6e377f0a45eb534f0aff90
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 875.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc5f7cdd24035a8b809ec26ebef051ea8a566b6
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21aef1b6a0e41f5e2440ac2a8e982ab3533405c2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob875">
+  <link name="random_obj_875">
+    <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="0.1273"/>
+      <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="875.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.47 0.35 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="875_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c503d407293dd18010bae52190ae917caac9270
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/875/875_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1eccff49da5211d968844dab76b7fd4791ccbdb7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.obj
new file mode 100644
index 0000000000000000000000000000000000000000..376d15bbc0cf3a6479deca820a66bcd77018bc01
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.obj
@@ -0,0 +1,1146 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..04ee20cce9f5b1b8c3e7364bc02d0c0ea485f0a3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob876">
+  <link name="random_obj_876">
+    <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="0.1017"/>
+      <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="876.obj" scale="0.0099 0.0099 0.0099"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.13 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="876_coll.obj" scale="0.0099 0.0099 0.0099"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b04862bfe8cc1fb291ff84e0a2f0b3a0ea0e88c5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/876/876_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..099b78f84c034e0c0e7aa2787ac714536f45ed79
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a29d9254175d25373f89c4a22ba4995181781a4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..81214cbba5b270975273e2ebad0dfaeb069f7f02
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob877">
+  <link name="random_obj_877">
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+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720867b14471a47ba90dcd256c16829a9426f9ae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/877/877_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4189ac1f4841dd36cc2f7ff4a50ff91278f4f37b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728a8602640ee714df73abdbb6a6880b6de1c497
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2cf9d8246f956da0a76d9dc060ee58eb6697a6e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob878">
+  <link name="random_obj_878">
+    <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="0.1014"/>
+      <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="878.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.50 0.64 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="878_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814cd0364f72b1cfca15e9c0259d211abf17bb7a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/878/878_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16bfcc60af990e2d1d71e9d19d63ea97bdc7d040
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 879.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14f7fbad9d3cbd7d55cc3e1acb7f68499712f8b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1fe973ba3f6c24ee431e6c1409472009bc3ef008
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob879">
+  <link name="random_obj_879">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1059"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="879.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.94 0.28 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="879_coll.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555bebe0683b231e0800ef03a4734b961a60270c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/879/879_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fff8d490d3967fc391e0338168b5b50bbf9ce3a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 880.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88bff7c591d44b404d3aec86eef33f5fc044e6aa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..814a86438f168661464c2d08d50c269581a9c8cf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob880">
+  <link name="random_obj_880">
+    <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="0.1640"/>
+      <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="880.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.19 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="880_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f807a21b9bd373dcc15011c5670b26c1ad14014
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/880/880_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c414087394cdc01c991bc45d3d3d0d7681608cb0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 881_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.260603 0.121615 0.122600
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 881.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51a37da325047f0e5ba2999e6caeceb36eec48f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.obj
@@ -0,0 +1,273 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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+o 881_Cube.3562
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae4b36822680736fc7e7cdfb7895de6deb59afa1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob881">
+  <link name="random_obj_881">
+    <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="0.1045"/>
+      <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="881.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.80 0.62 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="881_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e04c21f2e37f8b91046ebd051b59c79d9864d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/881/881_coll.obj
@@ -0,0 +1,435 @@
+o convex_0
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+v -4.814552 2.987555 -4.330883
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8a26e0f8c8f4b53f0db6d86fb288c316ec9b891
--- /dev/null
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+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1dbc3b03140462f67f01663ce8640dc9e20c7a4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e24ba84c7d92b521a592e65bfe20508431dbe25
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob882">
+  <link name="random_obj_882">
+    <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="882.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.04 0.85 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="882_coll.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/882/882_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29248a34dfbe02534f0421b62823c8a611094a1
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..738e0e75254489bc61657639b74ad70d418c387a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob883">
+  <link name="random_obj_883">
+    <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="0.0851"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="883.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="883_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883_coll.mtl
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+# Material Count: 1
+
+newmtl None
+Ns 0
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d54c4d9d0dc44b4e61d65d664df476be7b8fbf2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/883/883_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6cddc45372a52609a287a61e62650418901745aa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16978dc9d50e363b1b07e482648f9717eb678ec
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3668480d568cfd316ea8adf670b740895d995a34
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_884">
+    <contact>
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+      <geometry>
+        <mesh filename="884.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="884_coll.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884_coll.mtl
new file mode 100644
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--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/884/884_coll.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..310914513f8f8a894679583e6963e541cbcc5133
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..197a486f89542038f840f692f4eaafab8fa2d0f4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob885">
+  <link name="random_obj_885">
+    <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="0.0587"/>
+      <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="885.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.02 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="885_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd1e481b3f9723bd3edaa5a4fdc516379a614110
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/885/885_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6d7e982740a099c460380b67a222bd909ee9982
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 886.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ad8a763225fe3e39bfc423131ac060fc016021
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ebfb325fbc7b4a087af9d9e607e99d787de535d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob886">
+  <link name="random_obj_886">
+    <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="0.1334"/>
+      <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="886.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.95 0.58 0.33 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="886_coll.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/886/886_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a058b1810a6e391f5dec174465bfb768a5f67c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e350dbb51236c7fc3ca666c192f517e218ab7773
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 887_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.050497 0.346726 0.113782
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 887.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d581a7b402e9fbbc5a6fb79e0982c03175ea757
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0579d9c1d5a9813d0ddf855cfe813dd6af2ef439
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob887">
+  <link name="random_obj_887">
+    <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="0.0857"/>
+      <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="887.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.23 0.26 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="887_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/887/887_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612c71be9d7b9276e8e02c871012ebfaa1e23c94
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea4f38693491b43a00ab545d74ae67773165c249
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 888_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 888.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d03a56883c2bb02075e437eb0a05ec684048c6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.obj
@@ -0,0 +1,3219 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d35caf3368b7fce9d1e50e823c96dddb44c27180
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob888">
+  <link name="random_obj_888">
+    <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="0.1225"/>
+      <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="888.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.36 0.26 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="888_coll.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/888/888_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3998202154dc0ee8bf28fd70d15a4ff54fcbc6a2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94d0353aadb866aa97f2fbb5b2b451967b5191c7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9174479c229c83ca9f976ef119684adfe39fb97b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..75aec8dccee70b7cfee4975de4b3de5d57c8e11f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob889">
+  <link name="random_obj_889">
+    <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="0.0845"/>
+      <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="889.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.52 0.66 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="889_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68e4814537be0685e6ccf79010c68a0acc4d3b0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/889/889_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c980d3ea839546b11a2e851e82520f9791d61e1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.mtl
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+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92faaaf6b7b070fdcb884f487dd2476cc5005e7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26f9f03bf5e4b723eda236627298bc2736d61a86
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob890">
+  <link name="random_obj_890">
+    <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="0.1118"/>
+      <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="890.obj" scale="0.0099 0.0099 0.0099"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.29 0.25 0.61 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="890_coll.obj" scale="0.0099 0.0099 0.0099"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ac2384cd351f92af7d601d66988053cd54ea26
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/890/890_coll.obj
@@ -0,0 +1,663 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56b251e342621a2a952535077c08e39bb7c6a206
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 891_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.378882 0.753339 0.336581
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 891.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a5b4d882645d55da31191cbf2179d0b1003109
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.obj
@@ -0,0 +1,358 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0995177e54b04d43b18b29c3e581afce2b2d9fb9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob891">
+  <link name="random_obj_891">
+    <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="0.1537"/>
+      <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="891.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.22 0.37 0.11 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="891_coll.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7874a7aecdb6e7bfd5c318249d3cbbd81a88cb41
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/891/891_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b19a3265b7f037489c507833aa39462f1163535d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9475c270874e581c3b1bd80807f616fd587133
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892.urdf
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+      <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="0.0736"/>
+      <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="892.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.35 0.13 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="892_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20403ba5d9b927059b07c73393874f3b8ab54fb2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/892/892_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9995a50eb6767b7e68a863349972332735d2580
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b362e731050f87e65ea9ad5c7e9a63ee1735428
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6ee32ed9f6caacbe0702bc68aa23b0b1f56c69f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob893">
+  <link name="random_obj_893">
+    <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="0.0414"/>
+      <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="893.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.65 0.13 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="893_coll.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4fa6cce78530ced2d51e84f4d9e78bbdab3a3d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/893/893_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..091bce4ac43c43e50ff74aa033a0d75946b4d0ba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0be1a013eb3645203270ef0a013bc2f63544fa
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d98040c379b8e5cdbb5b9f2833cf76dd8c0f50c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob894">
+  <link name="random_obj_894">
+    <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="0.1278"/>
+      <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="894.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.08 0.38 0.18 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="894_coll.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec8219f8a67062571e4d775dcbab15ce4808333
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/894/894_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.mtl
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index 0000000000000000000000000000000000000000..823143fa3fe6c67348baabea82d463553fcac8d4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ff2df37d43f6207050bbcfc37affba21fc6b8f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11cd50f03c270ad1693bc6a9d595efc47e145eeb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob895">
+  <link name="random_obj_895">
+    <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="0.0206"/>
+      <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="895.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.17 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="895_coll.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/895/895_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e56c02bf2a7c2aebf272774d5ae86720c45062
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac1866a98738cfe3644e6c3956c77e7d200ecde9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c20152f2bc4e893c43a99da627ec0371a53041
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b36018e3d7c8bc763f5bcf1fa2419abb3d9969dd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob896">
+  <link name="random_obj_896">
+    <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="0.0862"/>
+      <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="896.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.37 0.62 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="896_coll.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d78ecd45e814b2068a1e93921a016f13580754a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/896/896_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0fd80001472f1bc2f7c676b76060576abab8c6a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 897_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 897.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.obj
new file mode 100644
index 0000000000000000000000000000000000000000..076e7425be56e82a8b1da51bd6d4a03118d7e861
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.obj
@@ -0,0 +1,519 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e366d2a26a87d3c11dc4f38fdac6aef50630b93e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob897">
+  <link name="random_obj_897">
+    <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="0.0412"/>
+      <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="897.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.31 0.37 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="897_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457693081876dd7bfff2d1214a0b6f2d9ce4672f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/897/897_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..248494c3f4fb42c1d7c8ec8e717e4131b25bcad3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 898_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.075209 0.231392 0.098784
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 898.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6f9b802524e4f464e9e8c50afcafca0a5f07f6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.obj
@@ -0,0 +1,4277 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99db4e7a6fc3a0b1cfc397c9b2b37383354fc8d9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob898">
+  <link name="random_obj_898">
+    <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="0.1276"/>
+      <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="898.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.00 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="898_coll.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017797999409d9dac925cb9ab5a84abd87c4b90b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/898/898_coll.obj
@@ -0,0 +1,825 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f7ae99860a1771a75ac6d76d7ebd1d38fa4b240
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob899">
+  <link name="random_obj_899">
+    <contact>
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+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
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+      <mass value="0.1250"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="899_coll.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821574567eabaf70dfc2abd8565b8765db66b6b9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/899/899_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..655c559144028fd3c30a16368d7fffb0180bd4ca
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 900_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.138244 0.058501 0.218116
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 900.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c594e641e8012fcbf36c561e2c213b3d1b57f2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.obj
@@ -0,0 +1,4963 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb4f69722dee5b021665c1c9b0ee6b9b32dfbca4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob900">
+  <link name="random_obj_900">
+    <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="0.0816"/>
+      <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="900.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.78 0.88 0.82 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="900_coll.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/900/900_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bef0b1e17ec1e2a2223f2e33849ef7a53d02959
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e59203f82d679b470270df8867e7ac3d05306991
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 901.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59679772877164f74093a651ea03f8676e627e67
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..870f33c8b71edab4a34cfff3c97b0382ef92f978
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob901">
+  <link name="random_obj_901">
+    <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="901.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.99 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="901_coll.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc6a3809e0ce336470c0f3ad3a393b87d3735e0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/901/901_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4433739365719fd1e48e20d4067e26d2b9c38caa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed65959fb1e5f16c0a3db71513183ac480df0f87
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.obj
@@ -0,0 +1,1447 @@
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c46150938f8464e0a3b8c735bfb6df90f4314ca9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob902">
+  <link name="random_obj_902">
+    <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="0.0359"/>
+      <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="902.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.49 0.51 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="902_coll.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c010ce8e6b6d2a3f532d54a4a677cf5a39a8a540
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/902/902_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b2bfc2ab4884c00be1c9ec880d4d9a72540e0a2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 903_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93053a5193098486bfd69f21790d01c0280cabbb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.obj
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c8ec6ff457ad2ecf3cdfacf94f354eeb3a0790d7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob903">
+  <link name="random_obj_903">
+    <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="0.0753"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="903.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.02 0.69 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="903_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336863bab3b0fb00ac7fc999add07668244bf0a0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/903/903_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ddc3dfb1a17332bebc75e876968332410a74a363
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 904.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ef9b8b8313f66885d1e769c79a73d229e18f60
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..141bd552e9d94695e64ef195d1ea3a3766754311
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob904">
+  <link name="random_obj_904">
+    <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="904.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.37 0.38 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="904_coll.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a0ab5d5ab8bbce0ff2fb545ca09d386326cb30
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/904/904_coll.obj
@@ -0,0 +1,462 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..79532eaadd8bb82a345177d5ad4704a97d325773
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 905_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 905.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fad75dfc681daef4db275de628b022079d1664
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.obj
@@ -0,0 +1,309 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1937957dc539d040ef8ad48326a5cb29ff57e280
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob905">
+  <link name="random_obj_905">
+    <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="0.0530"/>
+      <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="905.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.21 0.46 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="905_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868f586f14a76b383225133ae1ad01fd0698d499
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/905/905_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12a2a2ce004daad95fd4f2e9b393953f38b9a02b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57c6cc7e83cead89a64940afd75d5554497dec9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.obj
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abfe0cdea7bfdd21c56353ad6334abef1d8f0157
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob906">
+  <link name="random_obj_906">
+    <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>
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+      <mass value="0.1219"/>
+      <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="906.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.54 0.31 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="906_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906_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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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5bc026ad1930eeccd991d9c6299a9954549941
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/906/906_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..68a2fb7cad8f215c4b846883fd67cc8b7480f87b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 907_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc72aa7ad28e208f61e75203b5a3b665a323c7f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.obj
@@ -0,0 +1,345 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a7c2261cad009b4306f614d85f07c05b006e871
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob907">
+  <link name="random_obj_907">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1368"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="907.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.37 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="907_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf102d25665c00b96ffb364ecb70a94bf164013a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/907/907_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b7b426c02e13e78e71a125f05a80c623eba00d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 908.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4a1e6c34bfaa4bd0aac53718b14cf1c4dda4db
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8025ad4b7dbe4a2e16003313acfa2862d51bda93
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob908">
+  <link name="random_obj_908">
+    <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="908.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.94 0.87 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="908_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5fe70b7aafd8f33622ea19505e6cddc12664657
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/908/908_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e109471b903fd2d75bfd753c9a38f61d937aa70f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+d 1.000000
+illum 2
+map_Kd 909.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff900b61a87be82fe3b43be0181f0f1fed8cee10
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3af32e03526fb10388b06f295973e1eadc655460
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob909">
+  <link name="random_obj_909">
+    <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="0.0657"/>
+      <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="909.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.70 0.37 0.94 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="909_coll.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd28ffd6c37ce4c73a90e5f1b77dc968ba2b959a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/909/909_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a0c1bb3bf5d70e5e4175d1c4f0f4fbb248416d53
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 910_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.307190 0.715203 0.348864
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 910.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61b36b6ee9772f161515567f6b61b9c7206ac6a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.obj
@@ -0,0 +1,860 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..05649cd7209c830cb4178a9450d78e39c87b3d3c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob910">
+  <link name="random_obj_910">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0822"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="910.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.94 0.72 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="910_coll.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..141f214e93e581b463ec2e4e300eba6c4210f21d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/910/910_coll.obj
@@ -0,0 +1,549 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0813febf148910938352353db823651db641d13b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 911_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.542192 0.222514 0.649631
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 911.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b194e71945c9d94035fc170a411819e6558d9278
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.obj
@@ -0,0 +1,446 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3024fd0021e3739fe492c92e8d76ff2f256f4c42
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob911">
+  <link name="random_obj_911">
+    <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="0.0646"/>
+      <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="911.obj" scale="0.0101 0.0101 0.0101"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.74 0.85 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="911_coll.obj" scale="0.0101 0.0101 0.0101"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48dcebf386dbd7a35ef8186c4c3a5a62c3e1cea8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/911/911_coll.obj
@@ -0,0 +1,369 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..972002328840f807fc37c38c4ab5ff3c3dbf7117
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 912_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.157484 0.214296 0.092136
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 912.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6097f19b3b45eb6cbf0969dd5f03da584bacb2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.obj
@@ -0,0 +1,5822 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 912.mtl
+o 912_Cube.3684
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6be150badb6753a8c3332d5f47d4936d4a1185f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob912">
+  <link name="random_obj_912">
+    <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="0.0991"/>
+      <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="912.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.76 0.27 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="912_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/912/912_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c092df337855fb02f4b293b068161eb3d1874ed2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bede4fcb72cbfd36ee2f2f17e3940cf9a70de13d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5515a23c2cfee1d8fc2272642b80ad9c9e3a149d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86c9734f51eca57d2730a9e72df2e8921c8d5711
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob913">
+  <link name="random_obj_913">
+    <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="0.1428"/>
+      <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="913.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.07 0.03 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="913_coll.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5fd6e302d20958203a98807fb6545b3937c4ef
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/913/913_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9430d6742593a46a0f9a773e49a7dbb6250174da
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob914">
+  <link name="random_obj_914">
+    <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="0.1345"/>
+      <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="914.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.01 0.88 0.41 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="914_coll.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1b8011f3c4bb06ae3b55d5e1ca3d2ab0eaea9fa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/914/914_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d23d3a624b9081f01c9bf6cabc220fb1b135466
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 915.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8100bd0d4a8eb5eac39215f9fdd26522e9e9cf4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9128c1558ca474d4a8256cdf059c140ec706af83
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob915">
+  <link name="random_obj_915">
+    <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="0.0981"/>
+      <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="915.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.87 0.01 0.11 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="915_coll.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e27d35459c73803f79ba56c4a2e848d99ba221
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/915/915_coll.obj
@@ -0,0 +1,1224 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26e6f97142089c5033d1742e975dc7b07fb4a9b3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 916_mtl
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+Kd 0.355194 0.302730 0.107862
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 916.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82980846989c8bd703560c9477527ce4416e69e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..57dc68d1d15c32ba3ca9c608bd110bbab7b5a326
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob916">
+  <link name="random_obj_916">
+    <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="0.1015"/>
+      <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="916.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="1.00 0.26 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="916_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460cda6fec1be9628b6ec54e5815ac53f90f1864
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/916/916_coll.obj
@@ -0,0 +1,1002 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6479fce89291330daa077b51d379b4480a45badd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
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+map_Kd 917.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2266ca768cebc96c7c232650e79ab76e9c50eb7f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..37566aa565735ccca019ad9bdf167a2fa762c79a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob917">
+  <link name="random_obj_917">
+    <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="0.0895"/>
+      <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="917.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.52 0.94 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="917_coll.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917_coll.mtl
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+# 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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/917/917_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d120b8d90df4aa32a857e861b330ebde581ce9fa
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc5a1f25e48a8e3c8d4dbeb2d2f912dbee48afbc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.mtl
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+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bdd7bb116d321352bbc820d42fc1814552bc577
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..34dc88d8922d295f302a3fd068ea0b0e5a9900b1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob918">
+  <link name="random_obj_918">
+    <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="0.0682"/>
+      <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="918.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.85 0.93 0.41 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="918_coll.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b187cd5b1827e4421b370f865620bd0a61dd96e2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/918/918_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..497872c2d5b6e001bc313e950b34b94531c69968
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
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+illum 2
+map_Kd 919.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d267201395b2d2eb630d9bab412bad51ff79255
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b0b1ecab1f1ce55970f3649c94a57c098dc93c15
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob919">
+  <link name="random_obj_919">
+    <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="0.1821"/>
+      <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="919.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.82 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="919_coll.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919_coll.mtl
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+# Material Count: 1
+
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+Ns 0
+Ka 0.000000 0.000000 0.000000
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/919/919_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4415906f317eb44c06bf82306d54aa453a5a2ef
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b1300d1817a4c9d991376d8f21529fee8e2e770
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd9acb1e2d51de5a20e6ca6d2ede2afa79a98eb
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38cc2bac8be2cd127e7e2dbeb7e11a0ae0f1e9f9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob920">
+  <link name="random_obj_920">
+    <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="0.1188"/>
+      <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="920.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.90 0.64 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="920_coll.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b80877ea7f5a3a152e6b928c17f507bcdbbda73b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/920/920_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75826c45cfc1bfa95bc2fa0948a605522a18074d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82504f7e259f79f138231ad8df84e9f62944f098
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab8fe71fd69ff41989b6556cf4cf4a3cb3907ddf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob921">
+  <link name="random_obj_921">
+    <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="0.0486"/>
+      <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="921.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.11 0.50 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="921_coll.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ffd3d3615630b6f751923e00f376dcb1e1348e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/921/921_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d244d91df53c3f045a3b4d8e77b4fe01cb7c8a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
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+illum 2
+map_Kd 922.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57bee9751e64bc7e21d96bba6467f6ef2fe63c8d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11f36fd9b145e79ce8bda4ef74782f9393d5423d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob922">
+  <link name="random_obj_922">
+    <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="0.1257"/>
+      <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="922.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.80 0.63 0.86 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="922_coll.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4162888a0fc51e7c0e3e335299933b9b024cb1fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/922/922_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d469977d70147c4e45a8cf16eb6958f146234
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 923_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.309723 0.016927 0.245649
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 923.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6051ce294f589136ba3c7a54ccaf5cc3bf24b1c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.obj
@@ -0,0 +1,1730 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7c26e59860984429f428adf9f96e9a1917e6ef5e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob923">
+  <link name="random_obj_923">
+    <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="0.0647"/>
+      <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="923.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.52 0.19 0.16 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="923_coll.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/923/923_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999123e43eeb93068ea16bff4b7428f7d4f9e451
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70442f629abcf2c49851c1d460313707e5eae62d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 924_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.516309 0.199673 0.623145
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 924.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d19da80c716db67c3904881fa71bff53825c840
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.obj
@@ -0,0 +1,5041 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7196ae191480df177732c3823e6a1a37a580bd15
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob924">
+  <link name="random_obj_924">
+    <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="0.1139"/>
+      <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="924.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.31 0.18 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="924_coll.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d749467eeca13455187a9a3de473ead897727774
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/924/924_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8c71cad71a98ad418647a4d58f93daa35f69201
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 925_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.046525 0.069525 0.402342
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 925.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb3ab5d5fe9b6cb3fe3a65974c233cc7796f9cd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.obj
@@ -0,0 +1,4491 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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index 0000000000000000000000000000000000000000..a1df3a2ecbe66dd078c2f6ba6e08895c57aca81e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob925">
+  <link name="random_obj_925">
+    <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="0.0473"/>
+      <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="925.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.65 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="925_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9987969febff28c62f2b522e6af050930f69fee
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/925/925_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f3f9fdf4d24d29acd03c3a01521a60dff9780a0a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2def6610ac5caa91c698dd36786909bf6605908
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bcddb998acccd9a2c3f14fd2a93ca0a18410449
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob926">
+  <link name="random_obj_926">
+    <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="0.0831"/>
+      <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="926.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.10 1.00 0.90 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="926_coll.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/926/926_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4364477c7b0eef2d67b55da58067eb04a57afce2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d644d77c28f4f585af200acb10b209d027135b6
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac65468e4d6fc9242a862f540de4b632d5f8cd7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..087b8d42e4b18b05bc0ba2dc6a70225d5914ca7a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <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">
+        <color rgba="0.62 0.14 0.39 1"/>
+      </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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c03a14858adc839f1c88c872d2d66502a6baa75
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/927/927_coll.obj
@@ -0,0 +1,507 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866d117e328a2e9e1db430291ca1456af7934b0c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59804af0639fd257409c79151f425e60ce8daa86
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d357599b75efd79c9755456136c966e3a213140
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7525c844cac77496d359c2538af9483f4f437f97
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/928/928_coll.obj
@@ -0,0 +1,1023 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e4505915fe8a617a1105a55c39a052277f9f9a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.mtl
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+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 929.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca19e4b5ab59269b4283846ac4af3641be7a81fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ec2e02561e52e43a7fdcecdc07219961f76ac75
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929_coll.mtl
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+# 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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/929/929_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c58f15b208c74a9f8ddb4bd708f18dc9f9bd07ce
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a209ead8cfa3c59fb19d2066022366ab74382a0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d347e7404a8ae75807a6c28acc9177a552dbb404
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d126edec1fd659baff82e12598b51087cca63b7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74120d0eaaa54c9fc6e84f55c4fb35b30151b6c5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/930/930_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6b4ed32b15d7f2c8b8e1ebdfe48a9671d713df6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095280a02ca7d1a72f1aed431ca97adb32ac3d96
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8970266729418fa20f0eadb003c1f1e34521d33f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob931">
+  <link name="random_obj_931">
+    <contact>
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+      <rolling_friction value="0.0"/>
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+      <geometry>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931_coll.mtl
@@ -0,0 +1,10 @@
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+# Material Count: 1
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+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/931/931_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d12cc944a62bcad836fb1843e41e47eabf8f1ff6
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.mtl
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index 0000000000000000000000000000000000000000..715e924cdc6543dd9ee85c0c219031b259fd49e7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4117bbfdd6f698997a51dffd7f4589799b70a7f
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new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c5845b112684d0fbbad8f50c9d0a95c32834829e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob932">
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+      <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>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/932/932_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba89ffc877018c4799292fb213624bd51de6e24c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c519c2403b4b2533790ba7a82acae25c1331dbb7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933.urdf
@@ -0,0 +1,32 @@
+
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+      </geometry>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/933/933_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21541f21dd3bbb22151fed57e21a05f40ca1fe0a
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d37b69969d9a550b63d9684f9371f481a684a575
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 934_mtl
+Ns 96.078431
+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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88b601770d49ff21a0803f90a150215a3ffc891
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.obj
@@ -0,0 +1,6041 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 934.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..148a8546349949f108960133a2a60b1d6d3e008c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fead7b4a481569494e122f634264bdad900fc5c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/934/934_coll.obj
@@ -0,0 +1,912 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.mtl
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index 0000000000000000000000000000000000000000..e5dbb3ef645d8ac24e1c926302443741d01e9ab6
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348de14a7131ea198f3545b0d8d7728acb476f6d
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b295adeb890ac141c6bb0558c2b4e3f425eac063
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/935/935_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6625dff80a331d3f6ddb7815bae9659895810cf
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61880ec56e5ebb56ce6ade4b236b92e680f842e5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5dffaa258ac21e4caa2ca85a21481084d949b0a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d48fd99c53eb86a64e5182080a7ad2d07d20f231
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b28fce395232a825e05a76ac8b97cf53977b1f9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/936/936_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f411d49164e0fba714053a8396038d7ffa43e13b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5534f9e45925417e146fa85c16e4fd0b145f1dd1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.obj
@@ -0,0 +1,6068 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab56f592b39e86bcf8c5d160ae59fdd54db6b1ba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac7b3d89ab6df0e9de5fefebc19f57308a425f3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/937/937_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.obj
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index 0000000000000000000000000000000000000000..22bf480568011f3f3d1df16095792e75d74e18d6
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6889ef531bb124cbd431eacb0a085f8aa9fbf9f7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob938">
+  <link name="random_obj_938">
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
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+      <geometry>
+        <mesh filename="938_coll.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938_coll.mtl
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+# Blender MTL File: 'None'
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+
+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/938/938_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b506655003e1c51ccb267898d75fd67dc486409
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939.urdf
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc575c3463b7a411112d037243edaefcf05fa6d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/939/939_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..442895b23c444e73bc6b96f20e8be5cc26ec91e6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 940.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24621e5ba9653774e30e0bd80327a3a6253c628e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.obj
@@ -0,0 +1,4937 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed567565c73cc9d06dd0e19a273325b43b80224f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7617b5c0e89f4b18b5a662ebaf012529cd282ac
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/940/940_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f99245aab6ba09c10ff5f0b5c3dbfe979c5c8583
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 941_mtl
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+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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb271d9507ac5c6eff11e29bb8c01a38ae2d86b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1eddb614c7b435f2c521ae5c8918430edc304eab
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/941/941_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28534b70f7c95f1fb6228b8286636737a328b34
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edebe198e37053d7b0e6040a098f001f0b2198dd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9037895c7f72b35c3a5423b2c06338c123c27ca1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35d42feec8c21c5a0afc02c5c95af5214b28c450
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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"/>
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+    </contact>
+    <inertial>
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+      <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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942_coll.mtl
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+# Material Count: 1
+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/942/942_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1fcf1540c81852d0e9d6a5542c996d00588a5e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12fd4d88a5a1c893c9e5f8e0e42876eddc0db469
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 943.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196f3c68985569331d87b59524c5582568b1aec8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a3d96677e2847b4913ef1a55293b0215bfa1ed9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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"/>
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+    <inertial>
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+      <mass value="0.1181"/>
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+    </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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943_coll.mtl
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+# Material Count: 1
+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/943/943_coll.obj b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2646ed990e5276780db02e38e5824b77083e0380
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 944.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5340dcf84527bc2ea35d545c5bbaf19ba8ee9fd9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e1517992d570c152b362b6149791073aba2a943
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf098f51170bea4c0b0aecf9138fb0567feb07c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/944/944_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0cbadae5207b0a8a4e8f7be4cfce327f00ef774c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357a5355f23e53bea524a17e8660bbd33adeac36
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecb3cb260d3eba5485dfde0f9ca47d1c2ebf13e0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/945/945_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a9b2b339a3e8bc2e15375781c46a491e851e87
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd080656a41461fac0d99529a69e78bc66449346
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+map_Kd 946.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ba3df13293846f18e5ba774ce32a29f5666eaf
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6269d41ceb6b43e757160bd20d9e8a50d4535b6c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/946/946_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583e9f8edfb73f9ab1e342290711af4d18bdc37d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c3a4cf447b068a50b59a435f46780afe3b65bd2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 947_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 947.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b13e2a53ddb58245b9aaabc99d76a1a42f1d4be
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.obj
@@ -0,0 +1,455 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84cc73a3c66f8248f73279a6749365e110d59d9c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_947">
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+    </visual>
+    <collision>
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+      <geometry>
+        <mesh filename="947_coll.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947_coll.mtl
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+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/947/947_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d9e04ad2ed2eda978b121ca3c59780fb034014
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6062ebe48448234e0f52c13a82eaa03a4a2355ff
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.mtl
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+# Blender MTL File: 'None'
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37376c3a0e66a42567da3f129ea35eccd46d2006
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f68c299c60756cdf5464dac84a2fe8214ac5813
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/948/948_coll.obj b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.mtl
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index 0000000000000000000000000000000000000000..feda7ff2a814ffdd8d72287a0d902ef96345a8a5
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2d55aa02732b552d7de00a88724e278f948ea0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a2e5392576aafacddc9a4619168e11bfb525c2e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfff6be1b5695ccd7fd3896ed36eb06d24e7314
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/949/949_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b62e36c15e350187303aaa39d6a8b53422bb5dd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 950.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2fdb20fb9a7224a593a898c41c01425653ef6e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77d63dcd061f38e19ceedb164277431ebc61633e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc03fc227d4e4c093243977c2de64028fe438598
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/950/950_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.mtl
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index 0000000000000000000000000000000000000000..1d57f9c8349363f2841e48e270eaa9187b2a3f6b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1d85402b9c0d1ff55d4b200f612b77e9e0c787
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da51e07dbe5e5348e9ebaee1791a9c129ae46ea4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951_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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878b1bf2ee3e901ed57f81add7fa0a50e87497d9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/951/951_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0baaefd5e45e56a7d7328a1d6a2a98d04bcc2c07
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 952_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 952.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e733835adb4a164d1ec059b2b8f02f245e09fb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.obj
@@ -0,0 +1,2385 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5c4ab5d82d77f54b0f30d352a908b29cdc6238d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/952/952_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9159365e34354d0bae16e193d6c865bd194897eb
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d1e8bdd9d31e77b0b786ee8beb67c72fda5f66d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d79a1c32f73df8560180de56a7ee130936a37b3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.obj
@@ -0,0 +1,137 @@
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bba03fdb0a6fe44e64f227373047c0d78e4fbd37
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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>
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+      <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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1755206dcbcdb098f968a8b74400674dcca6741e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/953/953_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5bddc0b217e7c9c517b5228605200bba67057a0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229c77dec71e2b4aa2ae74e79888aeebcc7e0848
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.obj
@@ -0,0 +1,4882 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf22cb6ff48627f2074d9fb3f546dbbb43065f20
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7607a10f442fc7f96b12102f8fcb836d6e8804
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/954/954_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.mtl
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index 0000000000000000000000000000000000000000..0732f27500c6ee2365480a34fb87710203d283c9
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cf035913eb282e1a450ab7127cd802d3ef1a64
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a023e010647b1851e6a7a8e1c0238a907e8145b4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/955/955_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660646486f02a42228ad9d656f7b8be23d96eeaf
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02a9a3d8856ce853da83d86c6dd4767969a8493b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 956.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab3fb9162e23b70939cf093dcb6f2fb6a9dce2a
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4b049aebd817de7d2c7d2044d54eb9458b75b063
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/956/956_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31278cfb4a5740f7c822eefff0555d7c75ae427f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc39b0a0de984b1f42846ee405b2d37e1d2e63b9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 957_mtl
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+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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6dceffb4db6076debcf6a41592342194993772d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.obj
@@ -0,0 +1,168 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..724d4892b31bb6fddf4fa977c4d13d7b62c0cb93
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8596d1edee16377c5d24f1954727cd7c8492c0b6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/957/957_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1768e4865aac9233719debe11c39245b8ce21901
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bcbbfe1a740c22fd4664c90a2a97141ebdaebc6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.obj
@@ -0,0 +1,307 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e5c4b0e4adb3f9cf01196ba7d49757562357687
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/958/958_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e26dcbd509648096bb13a56560d055a568e1da
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5084797f8b819379eb253388d3f785b1da1b87c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 959_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 959.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61a14e588045a59d4c47c4a1110cbf7791dad07
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76075d72568bf1871300ca792188f0bcca51ee4f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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>
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+      <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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aaa30f47c61ab17242c9b8835960386d12a7182
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/959/959_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e122928d7340e95d18214bd83720baa22ae0c696
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 960_mtl
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+illum 2
+map_Kd 960.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f956aa4c97535e7e37629cce5cff90e1e0db1cbe
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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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@@ -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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2878f0f12cab3152bf1be091f1d5a46c4b439fb1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/960/960_coll.obj
@@ -0,0 +1,828 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/961/961.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/961/961.mtl
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index 0000000000000000000000000000000000000000..dcc53bd4b7f00d703c9d83329f5c897aeffced5a
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/961/961.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/961/961.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c2252ff8657ffcd6965dd2b4b6eef9498009fa0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/961/961.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/961/961.urdf
new file mode 100644
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+      </geometry>
+    </collision>
+  </link>
+</robot>
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new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3b33aa40219b0ae4ab12a0d5b16ba4ee23481ba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d320fc4147bea19eb1d0f5f63c38de5f42e50f52
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77df2f6c3d7c2c595cd3450f4cf46f99b166c42f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob962">
+  <link name="random_obj_962">
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+    </inertial>
+    <visual>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962_coll.mtl
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+# Blender MTL File: 'None'
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+
+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/962/962_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d658b275095971d937ebf373af87237ea6bb54f2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.mtl
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index 0000000000000000000000000000000000000000..5d4a9eee266d0d3611101d7ee81a2ac2469b159d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c88d3c1b6eec795c48aeed35c729a9cea8cd1b1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..265cd7e9c0e431e549f4d5ef35f3abd3ad016d62
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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
+d 1
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79a7324b244680934ceb7e893ffebd1300d0bce
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/963/963_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07dcc51a0b0ae7271940ade5717cf50e1145791a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5da26b0b3615f6616a6e31867c7e4d165817e4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f96d947d7ff8dac9b067f70b02cc60afdc161e57
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob964">
+  <link name="random_obj_964">
+    <contact>
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+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="964.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="964_coll.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/964/964_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19bc0610b7f3d53f80d4c2817365addf7abccc5b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2df14dd3320b8f7a1c4f451338e844c13526350
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 965.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25e663c31108b784570159cceadc856709c62358
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..341bbd26b29a928607b16c12d906fab359e1ca01
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/965/965_coll.obj b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6a1bc354c8e94f685ed2eb47895f3d2f841ef9b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92904c980abc54f1890b04351a1da141e34e59aa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..495179ebaefc8c4d5ea51ff111f2a0df2b155e0b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966_coll.mtl
@@ -0,0 +1,10 @@
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+# Material Count: 1
+
+newmtl None
+Ns 0
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7979712ed6f7393fc2f3fffb46e3875233edae22
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/966/966_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce2286a132f40eeacdb848da6154635a3b827190
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 967.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beff84ce44438917fa686376d1e2fd45a0682365
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.obj
@@ -0,0 +1,5489 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..720545801a4210bd18030cc7190b9b96085d8c01
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c9573fd0f81f757724f09925e6b48680ca0d56
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/967/967_coll.obj
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+v -1.916803 2.442398 1.096925
+v -1.850854 -0.132082 1.030893
+v -2.445089 0.924180 0.964731
+v -0.860580 2.838496 0.964731
+v -0.926528 0.990354 2.284865
+v -2.445089 0.924180 1.030893
+v -0.728683 2.178332 1.559024
+v -0.728683 0.462223 2.218832
+v 1.119620 -0.396148 1.426959
+f 400 407 422 
+f 400 402 403 
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+f 404 407 411 
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+f 414 410 420 
+f 412 411 421 
+f 401 415 421 
+f 415 412 421 
+f 418 401 421 
+f 411 418 421 
+f 404 400 422 
+f 407 404 422 
+o convex_11
+v 2.373740 -0.264025 1.624798
+v 1.119756 -0.396148 0.964731
+v 2.439682 -0.396148 0.964731
+v 1.977681 1.122154 0.964731
+v 1.119756 -0.396148 1.492733
+v 1.119756 0.198035 1.030828
+v 2.505896 -0.396148 1.624798
+v 2.043623 1.122154 1.030828
+v 1.383795 -0.330012 1.558765
+v 2.505896 -0.330012 1.096861
+v 2.109701 1.056018 0.964731
+f 429 432 433 
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+f 429 423 431 
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+f 429 425 432 
+f 425 426 433 
+f 426 430 433 
+f 430 429 433 
+f 432 425 433 
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/968/968.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/968/968.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41173c8b449778fc198a71cd5ff4bfe341652002
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/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