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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ea85256a5d149336f6b020367c0a4e471642f93
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob609">
+  <link name="random_obj_609">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0540"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="609.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.20 0.86 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="609_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/609/609_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f3dc735015b7042be6af58a55303ae7d914065
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/609/609_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fdcccf29be329f91e2a76b64baa92627d7554e1d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.mtl
@@ -0,0 +1,12 @@
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+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c19cf862f2c1d0b9af4f4726e453907d9b6e721
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.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/610/610.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20ef915cddb20c9de884af3195833e82b589ef67
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610.urdf
@@ -0,0 +1,32 @@
+
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+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.70 0.96 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="610_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/610/610_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/610/610_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa045f2ec1b6859dd6e35a65afba9fbb6cd2ab7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/610/610_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac6923120bb50714c705413040d7596018733857
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.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/611/611.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2552a69edd31a6240cdd8379f24eaa0da6a562a
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7216c25649c895f23aa49637dca86d60e2dceded
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_611">
+    <contact>
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+      <rolling_friction value="0.0"/>
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+      <mass value="0.1112"/>
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+    </inertial>
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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="611_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/611/611_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611_coll.mtl
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+# Material Count: 1
+
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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/611/611_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/611/611_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d7a7212dd3f38bd7ed6b0990fb0d876e388802
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ae6f4c2d8fccfc510c40cf1e3a65f0e5319d5d9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.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 612.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b147c191cc73ea69480220454c84ad49380a55
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abf671190ebb5138144b821fe05b0529afbdc672
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob612">
+  <link name="random_obj_612">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1165"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="612.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.95 0.44 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="612_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/612/612_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/612/612_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a01e8a46c0b9a2f7d6aa8b98cb301a908ad32d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/612/612_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613.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/613/613.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e455308e6dd8d6de6bb4db00d65e43b4ae3c045f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob613">
+  <link name="random_obj_613">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0917"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="613.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.91 0.05 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="613_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/613/613_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a47b5df2c95c1ed51657699ff54e001a2a0763
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/613/613_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c9adc68674d01221ad2a8c6ea73fcc42abc7d272
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.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/614/614.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5e4980f5cebed4928155d1ce7292349ef8736e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7e751c4a7ed89f597b23490d5b6ed6d67a45bd4e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob614">
+  <link name="random_obj_614">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1157"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="614.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.04 0.77 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="614_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/614/614_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/614/614_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714b70cdbf695f27e90366aedd4d9a996d3fcf1c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/614/614_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c5a005f0884cfae9c95ae91b53ed07978a1b480
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 615_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.255887 0.085023 0.493498
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 615.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ca762f61f72962bf7c3f40b888b7bdf8054594
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.obj
@@ -0,0 +1,4862 @@
+# 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/615/615.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..08a253aff45b7f752635c7a41dde795aab996e0a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob615">
+  <link name="random_obj_615">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0738"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="615.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.71 0.06 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="615_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/615/615_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/615/615_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/615/615_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d537d964a6e0d457e47dec4c66acdd24ecff9d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3397c5cd02711583bbe85339c2d8fc248ef88cd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 616.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63d034f6d4e3815c77c56d2e44933713ff202a9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..30632ccfa3d8023ae662314611b587f31cde0351
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob616">
+  <link name="random_obj_616">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1191"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="616.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.29 0.54 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="616_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/616/616_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/616/616_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/616/616_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8854c3a64639d4b64979a38d7811b5875ea1e7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..212318e125289772b4edacca47cf6b472c9b9acd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 617_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.081686 0.396663 0.210959
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 617.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9355e7a82d214bf7795899fcf5a61cee410cc444
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.obj
@@ -0,0 +1,1307 @@
+# 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/617/617.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3af608532f481b150af316ea7599d5a62b786171
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob617">
+  <link name="random_obj_617">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1179"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="617.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.46 0.50 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="617_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/617/617_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/617/617_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/617/617_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f45fff63be625692523387d497cb51907e6578
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9140f449159fce774122ebbe79d0bb442562ad06
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 618_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.136074 0.251253 0.056344
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 618.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0163747d145446b997bc755e7b3262bba0a5a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.obj
@@ -0,0 +1,5650 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 618.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e459e5531224a81a10db6559a0f7e8db582665be
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob618">
+  <link name="random_obj_618">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1383"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="618.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.97 0.24 0.72 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="618_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/618/618_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/618/618_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/618/618_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52f9b10dd34146e9d60e27da749b26433aa237d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e54bbdadfbc99cd0b00036f65defff0859e9491
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.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 619.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9adea215c282c39283453681467ca15198e1cc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c836b49704f55b80b005725c2ebb8cd2720d0d4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob619">
+  <link name="random_obj_619">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0854"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="619.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.27 0.26 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="619_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/619/619_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/619/619_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2783f2f32c5201a4407df2366755ef47f50bb9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/619/619_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb7fce6e9e581029601f0718511c27631e3bac18
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 620_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72458d375b6f71cf2d4d4c9f812ebb04ed6d09a3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.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/620/620.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48b16f1aa25f27599938f02c6a2d6bb6534d091f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob620">
+  <link name="random_obj_620">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1237"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="620.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.77 0.34 0.30 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="620_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/620/620_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 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/620/620_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e618e899f4f64ebe1381e87cef9552b1df65ca
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/620/620_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a53d1e013cb7cf42454aa968c5006f8c86a497e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 621_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 621.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76dd81c1d118e8fbd0ae9cb07f709669d6e15bf2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21f672af85d42412f0557565af3450f300c90c7c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob621">
+  <link name="random_obj_621">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0769"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="621.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.89 0.56 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="621_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/621/621_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/621/621_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/621/621_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20904a84a7d20658483a65642707869cdb2c9698
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd15226729588e7e48b4aba3241758d0e41446c8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.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/622/622.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51656afc7b564e2bc3edd2bae8fc546611fcde26
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd254e67175055755650696473dd0c1da56350b2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob622">
+  <link name="random_obj_622">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0330"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="622.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.53 0.29 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="622_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/622/622_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/622/622_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/622/622_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ab43e5a7c0b16edaf6fc7bcabcad477b6d8364
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11b03db404d6dbe99a6a7838499b61dbc1365307
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 623_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.041837 0.444365 0.387400
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 623.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78420b73e32395583e22a8cc7c2d117ebbfb1056
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.obj
@@ -0,0 +1,5029 @@
+# 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/623/623.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49ab0362c78bbaff8e5ec95c16300ace6bff4922
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob623">
+  <link name="random_obj_623">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1067"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="623.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.69 0.59 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="623_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/623/623_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/623/623_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938d6225c4795d9ca70cf3bb689b9fa806e6d554
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/623/623_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10d49955bd87ea75ee0be765d5119b67006c7937
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 624_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.038653 0.014323 0.231049
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 624.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c2f9be939d9178cf6e45e5f5a603e12aacdc82
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.obj
@@ -0,0 +1,247 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 624.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3238369096f4bae71e2df4823542e9a7a21800e2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob624">
+  <link name="random_obj_624">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1416"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="624.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.95 0.87 0.65 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="624_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/624/624_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/624/624_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/624/624_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb20137313fb87bd1d94698d4d72e81e60b448
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2655e7f9643377db214941bcd964f1db34136d1a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.mtl
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+# Blender MTL File: 'None'
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+illum 2
+map_Kd 625.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d3915add3f03750e3b82db4dcc4a380f40d4a3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8390d5c1f686347c0253bb9cb427398cd3afdd90
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob625">
+  <link name="random_obj_625">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1291"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="625.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.36 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="625_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/625/625_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/625/625_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a18feff8de7c382641d2856199fae6cd5695377
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/625/625_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f14809153fc5ca019b74482821bf12c5cd847ed
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6773d456ab4b6368b211b634fee131373a1de690
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..17bcdcc3515e94b1f0507558fe3da5232881ddc5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob626">
+  <link name="random_obj_626">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1288"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="626.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.08 0.76 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="626_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/626/626_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/626/626_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/626/626_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d373a9c60bbefc5ea8a0ae9556976734976c836c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39a1dccebbf8939c2f03bec247e27e7e4c5db3fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 627.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af695735d490afa8a29782262ac811d0f84c3eda
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..42ae4d5d56e7f02cfdae1c207e293b2563c76bbb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob627">
+  <link name="random_obj_627">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1199"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="627.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.25 0.23 0.07 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="627_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/627/627_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/627/627_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5eaa2c095ded080e6f14e1c981bf57063bb088
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/627/627_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a1dd845e947087185173d24e0d62b24ce6b8b151
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.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 628.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df484ef99e62580fde9af28dca6505aecb806f44
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c5f376b0508031797b9c54e1ceed49b1771f6b5e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob628">
+  <link name="random_obj_628">
+    <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>
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+      <mass value="0.1044"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
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+      <geometry>
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+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.15 0.41 0.04 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="628_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628_coll.mtl
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+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/628/628_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42856852aac2052f624501ef4c07a72610cee4d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0455f38f676fe52ac946ecdf3f59295506cb66a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 629.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a09b8a9f5b9d73f598d33af28bea1ba9a595bd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a7ec6026c4e786bc748d02b387e464b40f4e3a3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob629">
+  <link name="random_obj_629">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1223"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="629.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.71 0.65 0.09 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="629_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/629/629_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629_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/629/629_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0547afb29bef490655bff1716cf082264ff689
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/629/629_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4df57caecffa33f57974e013f728f9089804efb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 630_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.001068 0.330625 0.350610
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 630.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc329021a910e501ae3459a31a061942ee4200a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.obj
@@ -0,0 +1,5242 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 630.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fa4794edd7e6b012c438c6dd0a1e0d154f2f8a49
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob630">
+  <link name="random_obj_630">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0702"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="630.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.23 0.28 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="630_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/630/630_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/630/630_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7a4b71d421fce6ac2f7ae986728dce81299e5b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/630/630_coll.obj
@@ -0,0 +1,975 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac175b4d7a56c0a566b5e536ea1ffbe13a93a1ed
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9ef80e540158c62d1eba643a0b8b8e4bc213d1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..705a0ce034a10abe844194041f8355fc957236d7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob631">
+  <link name="random_obj_631">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1384"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="631.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.35 0.49 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="631_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/631/631_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/631/631_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/631/631_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7677eca14e9817058b3ef1175ed7f269ee09a13d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69ba3faac2e8f1fccaaef43bcea26285d4b25459
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b51f10c512c8bfbe0d46320d17a238ea005ae2c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.obj
@@ -0,0 +1,168 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5d4b88bbb2251dc1127907efb4d25148764e2dc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob632">
+  <link name="random_obj_632">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
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+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="632.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.19 0.61 0.03 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632_coll.mtl
@@ -0,0 +1,10 @@
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+# Material Count: 1
+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/632/632_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2aebe7502a8870861213e863f8e4bd045ab884c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0de5bb7cf0acf4f23f09f8fbc753a0dbdf33fbbe
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.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/633/633.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04775db9d88c8e309a3cd5f4ee11a757e1b825b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..896260e9188cf58799bc97df2b711f500ced8db6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob633">
+  <link name="random_obj_633">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0800"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="633.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.76 0.66 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="633_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/633/633_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/633/633_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaedb3baf72527bf30ea3905aef752f23496cffa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/633/633_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.mtl
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index 0000000000000000000000000000000000000000..f8a8624b5335567b051a9b214f12a79f53e4a59c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85b441f6127b560a4cf894db8fa47ec2d1484b5
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a1bebfe7fd59544d2d2c70fde39244766f50dd32
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob634">
+  <link name="random_obj_634">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0800"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="634.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.68 0.27 0.19 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="634_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/634/634_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58bc48cf733623a1fa43a2c5bd388fe5cfd542c6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/634/634_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edabb09b9b41285f940ba2942ceb9e8a4fbf65b6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.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 635.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3edf32011ba8228213e366711b885148e4706e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b9c4f2e0a91d44df21d8800a260adeca40ee73f2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob635">
+  <link name="random_obj_635">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1018"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="635.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.49 0.60 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="635_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/635/635_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/635/635_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327b88c22144d0a01f6ad09296153fb325fff91a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/635/635_coll.obj
@@ -0,0 +1,390 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70115a52109407a932740f0f0c9d44637ee2c04c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 636_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.249067 0.077986 0.165380
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 636.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe970125216b0f9771cb8f4539d2dbf806bb004
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.obj
@@ -0,0 +1,4944 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 636.mtl
+o 636_Cube.2559
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8a5cb75cc72d423eec2761a7e67dbebe046bbad8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob636">
+  <link name="random_obj_636">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1317"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="636.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.57 0.34 0.09 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="636_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/636/636_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/636/636_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/636/636_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1717fc3de3638e04eeab881cef13f3d89203a347
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34a9ad59636a814efb3ffef773c94f974ab3259d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb71bed61931bdf35055026679442c4432d4577
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f690dc67c1af5a54b0456aced86200d28a61dd03
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob637">
+  <link name="random_obj_637">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1101"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="637.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.41 0.81 0.56 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="637_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/637/637_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/637/637_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/637/637_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05768b7d4c67777aa271530bf562f25e2cc7ceb8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9629814ff629bfc7e26e9d853f6c503bda66256c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 638_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 638.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.obj
new file mode 100644
index 0000000000000000000000000000000000000000..359d4fa1a9e1219d608de430fc826ce1e8125da8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..25d51a8cc38c69b389db5cc749d434ded47ab79f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob638">
+  <link name="random_obj_638">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1010"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="638.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.22 0.09 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="638_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/638/638_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9ff7fa2db39fa6a99f6ff77d7f65a1d85def28
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/638/638_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae470394b3b8e36ab198a97e4fdc40e9a959cfac
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 639.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bafda1460696c238199b7fb9fc47248b68b4fc2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7c859b291012bdff231a4366a768365c036d6c0f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob639">
+  <link name="random_obj_639">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0786"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="639.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.98 0.92 0.06 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="639_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/639/639_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/639/639_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/639/639_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7587fdd3eb29b0da211beb832394794bcb49a44
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ea77325eb5d060150aa6d86ba4b8e655e5f1bca
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 640_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 640.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3eb04fee03d199b0ccfa649c989df1ab4a3d342
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.obj
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+# 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/640/640.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..63a5ae1fb02eb7c08674d30bd1c6c28edeba5609
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob640">
+  <link name="random_obj_640">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1055"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="640.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.07 0.42 0.50 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="640_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/640/640_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/640/640_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89479bcb4cd1294b8747f4da071ea037eb84d076
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/640/640_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b3fe2447c8334819be6cba19971b1ca3e0bdf481
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.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/641/641.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8731b52214fb7a84e54b7d6d3be32025d27425a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb3767fd8d9eda10a05628b5c8591beaaf503b84
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob641">
+  <link name="random_obj_641">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0790"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="641.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.90 0.97 0.56 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="641_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/641/641_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/641/641_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f40acb89c5e0c97fb8fc113b8f185202b1917969
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/641/641_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db335aa55a7a17819d187d61a1de88b2643fc7cf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.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/642/642.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef21d015601192233d4b474b272397025536227
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.obj
@@ -0,0 +1,335 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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+o 642_Cube.2584
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5128ef10a28309d42365e8821ccc44e398c1f17d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob642">
+  <link name="random_obj_642">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0990"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="642.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.64 0.31 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="642_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/642/642_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/642/642_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06998400f12a8558f5c464ff4e22aa83dabbe00
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2465465b2da81a8a66ac47d15f194eb4696894cd
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..edc6c442392b1f96dec57276c1c236e924875ff5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob643">
+  <link name="random_obj_643">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0371"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="643.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.88 0.82 0.82 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="643_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/643/643_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/643/643_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d6c03dee2caff41cddff82b79b0be964031373
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/643/643_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbdd92a098acd8d7966ad410707aba1738b99c0b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob644">
+  <link name="random_obj_644">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0561"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="644.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.90 0.97 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="644_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/644/644_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644_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/644/644_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/644/644_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc81258b50e0a195b099deb9d486fe3873e8cfae
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/645/645.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/645/645.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c39f06a62b512436593ad33ccaef205f51dec507
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/645/645.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob645">
+  <link name="random_obj_645">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1349"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="645.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.47 0.29 0.93 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="645_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/645/645_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/645/645_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/645/645_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/645/645_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/645/645_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc77e1e33f54904978fdab2a04426b3264edf1b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..31f43e9a9ec0ee21b2ceee428b4a5fa71a03a76b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 646_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.352383 0.167716 0.065472
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 646.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf51a0a1f39c97ab53a8e041579bb0ddcb7b0587
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.obj
@@ -0,0 +1,99 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 646.mtl
+o 646_Cube.2598
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.png
new file mode 100644
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Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3857c3be547d6d552bd6f52edcb7d0e2fd42103d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob646">
+  <link name="random_obj_646">
+    <contact>
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+    </inertial>
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646_coll.mtl
new file mode 100644
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--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/646/646_coll.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3c3606310f20c6508c1ef7ea040a42c9c88352de
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob647">
+  <link name="random_obj_647">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1660"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="647.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.12 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="647_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/647/647_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/647/647_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/647/647_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0853294a9733a5c359e1c5513f78ef32c28cc613
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b5cbbee509adecc346645d5f7eeb21afc88fb53
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 648.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e77cb05843a7840d0275cb4d6bfe1dca987ed8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65e24a9a0c03aca776aac5bed8e6930d388c6a65
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob648">
+  <link name="random_obj_648">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1317"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="648.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.56 0.57 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="648_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/648/648_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/648/648_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1245433fa71629186c36d1b441944c8aa68f70
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/648/648_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.mtl
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index 0000000000000000000000000000000000000000..9b22412d1d9e7707c546c4e80fb58d5c8116a617
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.obj
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index 0000000000000000000000000000000000000000..e02d76d80e58b7eddcc34bd0b321f91d555e1704
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a0dd30fd891b46f209b8484c44e04c3c54a6da8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob649">
+  <link name="random_obj_649">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0940"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="649.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.44 0.61 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="649_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/649/649_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/649/649_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f603103d1f057e848a29e3c562b397e843ff6c9a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/649/649_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ed659db930896c8ec828f41c8fc71c6c566b00c7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 650_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.787012 0.285344 0.772639
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 650.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54201a3607f476e59659e6ce2cd6833034514e6c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.obj
@@ -0,0 +1,1329 @@
+# 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/650/650.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4e5d871bec76a068348ad200a303930a4194cd3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob650">
+  <link name="random_obj_650">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1158"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="650.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.70 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="650_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/650/650_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650_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/650/650_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/650/650_coll.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4bafd2d073fbd74a4ce10eba7b0cb7532f60926c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.obj
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index 0000000000000000000000000000000000000000..4600e73299001a966eaf00fb4392aa885592c635
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa6c498663ac422d09f51351b7e7bd76ca47ebcd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob651">
+  <link name="random_obj_651">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0974"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="651.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.78 0.07 0.94 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="651_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/651/651_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/651/651_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bcab8e7fbb2f77d5749eb1129ea9dc6d94754f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/651/651_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c90af2db37f9c6435a53e0ba02370b143824a274
--- /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/652/652.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0c7de486a6f84b307d5ddd9b7b4185d98b500d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.png
new file mode 100644
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Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..914794c7079e539a69e33328ced680a7306bd64d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652.urdf
@@ -0,0 +1,32 @@
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+      <material name="blockmat">
+        <color rgba="0.58 0.24 0.54 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="652_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/652/652_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652_coll.mtl
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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/652/652_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/652/652_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac975f81f4c0d42c5c106acc0dd327414967a42
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a735c7fd2169ee65cf4cfe8936d678fde190fc4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.mtl
@@ -0,0 +1,12 @@
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef74200868649c5a30e381363f48c56c9dea4ca
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d36d03f283b7d7041e5595ee7a5ddf7003211a5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob653">
+  <link name="random_obj_653">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1286"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="653.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.86 0.34 0.86 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="653_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/653/653_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/653/653_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d17f5aaa6e4cd8b665919f497cb47dfdc3f1b7a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/653/653_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7dc82c24a80aa6756921f98044d1f8e7486cfff4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 654_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.054588 0.242544 0.559799
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 654.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f615b4065a861ea58c750baebc0dcf391acbdec
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.obj
@@ -0,0 +1,313 @@
+# 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/654/654.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da27cfbcc8255393d7f6cf41712709375ced61a2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob654">
+  <link name="random_obj_654">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="654.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.54 0.30 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="654_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/654/654_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/654/654_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d1c6b9f3120e5c1b853d28ccd9ee28658c101d3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/654/654_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6346aa414d6b8f0caa931f43039b9666d5456b50
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 655.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba80a83c11004a0eed4534a619a1f02e78d95d34
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aacd49408609ad4941be1f86997f16d85f900667
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob655">
+  <link name="random_obj_655">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1002"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="655.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.64 0.90 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="655_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/655/655_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/655/655_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194f68c59c3d8b84b8c444bfa1b268416f206242
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/655/655_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a53f3ed20b304ca3d0ce206f93a0e8e3795975a3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 656_mtl
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+illum 2
+map_Kd 656.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667e5754e1cada918914514de2184ea0f540c0ef
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.obj
@@ -0,0 +1,1408 @@
+# 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/656/656.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a83a456912661fc24c81076f085fbe39b1e2809
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob656">
+  <link name="random_obj_656">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="656.obj" scale="0.0108 0.0108 0.0108"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.21 0.85 0.60 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="656_coll.obj" scale="0.0108 0.0108 0.0108"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfb33322a8472c868ab1ea195f290b6c13e3341
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/656/656_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27dbb6fa212fcf1ac98d6bc3467e2f3f04b4ffb1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.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/657/657.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4017f6b6ff1d7b41f0ad45bb2cac4ba3b02fdf9f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.obj
@@ -0,0 +1,586 @@
+# 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/657/657.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..333e8e1c70dffe924b6c2ff0c0dc31cf088a98c8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob657">
+  <link name="random_obj_657">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1030"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="657.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.12 0.40 0.79 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="657_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/657/657_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/657/657_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/657/657_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e01d14db80259ced9e33aa990c10f762fe7ffd
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86a399ab1fff638c5bc1be557fa9751c7b3a00a5
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46cb3027283d3ecc0c73e4b84e34f9cc198c0c1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b7b0cbef7b4bbb6dea323d0c369bb37d153da430
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob658">
+  <link name="random_obj_658">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1297"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="658.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.88 0.21 0.26 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="658_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/658/658_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/658/658_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90f85bf51c22dbfc49fe1f72ce452382a9442cec
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/658/658_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7a56592b7b168b0690932be58bfe299e26f28b1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+d 1.000000
+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8376cb2b53ddd0a359be28050bc2ef0469019ebd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..18ba7c6a2c70a7641f88108fb80c8f6386f17723
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob659">
+  <link name="random_obj_659">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1238"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="659.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.23 0.02 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="659_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/659/659_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/659/659_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c7e0f636533e865ffd9928bb61e7e47175e603
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ed3230efbf6c37ada171fdd62926d87a8bea7566
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 660_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.188375 0.692040 0.250124
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 660.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559afd4cd8eafdc4a8e248cfa15b4dd1e3285552
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.obj
@@ -0,0 +1,475 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 660.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.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/660/660.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49d2b6394f29175834803dfbc825ed210da6e31f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob660">
+  <link name="random_obj_660">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0873"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="660.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.27 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="660_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/660/660_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660_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/660/660_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..285e4658dba0c75c5854b30fee1fd5154953a742
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/660/660_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd829a7233e7984e3042bc4ddd7f1561c7d9515a
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7050433168ccb3b1872dc3396749d06fe984829
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9bae444322b913e3eadbcd6d18183ca862450b43
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob661">
+  <link name="random_obj_661">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1034"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="661.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.31 0.62 0.03 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="661_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/661/661_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/661/661_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/661/661_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7047ed9861c9fb3e03849735c7d7830aee79201
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d32eaf84d1bd4086c95d1caac258a8dad1fed5c1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 662_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 662.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1db5d10b5fd8daa3b359e6f02cd7a2704ed36a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.obj
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+# 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/662/662.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76a95012c45fd79f4c5c9cdf2d4d65da2b9e5968
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob662">
+  <link name="random_obj_662">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1275"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="662.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.94 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="662_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/662/662_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662_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/662/662_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6392b4af1cd1c4c7ab1c1e98bc7c81d8b7f19e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/662/662_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d877013fa64527d968a6fc5835603eb975537bb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 663_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.368691 0.404269 0.183965
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 663.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ac6a1fb94ca92747c378072c8d352b20ac5ead
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.obj
@@ -0,0 +1,387 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 663.mtl
+o 663_Cube.2666
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..320aa01d9cd7eaa2684a8ef07c329ca7bef59ac2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob663">
+  <link name="random_obj_663">
+    <contact>
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+      <rolling_friction value="0.0"/>
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+    </contact>
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+      <mass value="0.1137"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="663.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="663_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/663/663_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/663/663_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fe784d0d4d7794202112263f325abca276317c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4a1bcfb45b766c74edd2e8d50b34fb5f3a53467
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 664_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.315782 0.742241 0.179184
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 664.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c2e5b004d2daa072bd70c61051a45def87fbab
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.obj
@@ -0,0 +1,4916 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 664.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e347f12442e377f25d36164c30139e44f93c9cd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob664">
+  <link name="random_obj_664">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0987"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="664.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.75 0.47 0.72 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="664_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/664/664_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664_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/664/664_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/664/664_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3a7ce3aec3119e7797e843806998a0ce6f9f47
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96b42403cdeec96771d322dafd6a72b59e4192cb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.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 665.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e207cca206e98347957d5a5ea301cdb1605df68a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ccb48f8cfef06a473dfead2e092aa993e33f79b9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob665">
+  <link name="random_obj_665">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0836"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="665.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.07 0.04 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="665_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/665/665_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/665/665_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394a4fd1b92a627e2011fd4608668e7d185e0e12
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/665/665_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec5c190988083174becf5bce9330559ee5a0b6e5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 666.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a921937e8bd0583d955ce5095fd59feddcbb72
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3267746e8828606ccc1243f82b67b867024f905e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob666">
+  <link name="random_obj_666">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0995"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="666.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.59 0.76 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="666_coll.obj" scale="0.0071 0.0071 0.0071"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/666/666_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486c6a922d2785d205f7d74f00cde91776fad824
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/666/666_coll.obj
@@ -0,0 +1,462 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b780d8c9da22044ec8d94c47634d7f6ff2699b2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 667_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.453274 0.621063 0.127962
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 667.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2145891f092a4a5ff8fb787c10e1e695037decbf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.obj
@@ -0,0 +1,172 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 667.mtl
+o 667_Cube.2682
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b86fc0851b1fac1bb930be538c43be7c525ee94
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob667">
+  <link name="random_obj_667">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0746"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="667.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.50 0.15 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="667_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/667/667_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b95b4b66246f90301581fcce08c2f3097bfb182
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/667/667_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0250f33e64a0884a0a57caaec3547a433fb71cdc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 668_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.437766 0.358992 0.093280
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 668.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b19424295a6c3370540beb42672a98f83a267f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.obj
@@ -0,0 +1,276 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 668.mtl
+o 668_Cube.2685
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5eec0b604f5274e9c3e5c6a51852c016d6207197
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob668">
+  <link name="random_obj_668">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0869"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="668.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.88 0.45 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="668_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/668/668_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/668/668_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/668/668_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f14a4e7b180eeca39610dac70d6b73743af16db
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0969f034390e771ab002fb1ddc65166612cb87c0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78b592cdcc93af1cdf4e77af72bcf6b82e405a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd9ab1c5c9f083f9d7586a09bb279cf08d33c9a1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669.urdf
@@ -0,0 +1,32 @@
+
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+      <geometry>
+        <mesh filename="669.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
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+      <geometry>
+        <mesh filename="669_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/669/669_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669_coll.mtl
@@ -0,0 +1,10 @@
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+# Material Count: 1
+
+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e8d0b7af7b495b8422cd47b5e87bcdea705cf0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/669/669_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca26da5563848d5a3210c48a87dcd5a77b524103
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 670_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.133985 0.075846 0.231195
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 670.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfb2a7cd16671aff30ad3910c30957179c3a501
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.obj
@@ -0,0 +1,2187 @@
+# 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/670/670.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d925e4a7a4efe4549e38c94b19d5887b9bd77f9a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob670">
+  <link name="random_obj_670">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1570"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="670.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.46 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="670_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/670/670_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/670/670_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/670/670_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48685c4f6d4793a2d9e4ec295e69e9994f124514
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..acde345630dbc6893cf89df3c925b9852a2441fd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.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/671/671.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3594e53fa8bd064dc883cbf76ede80c4d1b2cb7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae88b091ba52556b926fe4422f872d2f3ef586c2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob671">
+  <link name="random_obj_671">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0639"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="671.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.35 0.17 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="671_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/671/671_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/671/671_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189473af8758259f31a1930dafe5ffa2700f6bc1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/671/671_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a099cfd64ce1cec00d7b07d0b5450817cc63aae5
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a362a5727df5f9d72d2eae65e3ea71ae1ac38cd3
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0698fa8cb2a0c25c6701f97b5bcc350ea6b58e92
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob672">
+  <link name="random_obj_672">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0571"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="672.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.64 0.50 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="672_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/672/672_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/672/672_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81343d5dfc8367aa72378e296d1f86988ca5b146
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d96c6d2c42ecf356113bbb7d893c927e76b1ae5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.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/673/673.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d25a56be2b33789174f9360ad09c9d32089f375a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.obj
@@ -0,0 +1,318 @@
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..af078dce5694375bf4e2ea17dc0395ad5c2b125e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob673">
+  <link name="random_obj_673">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0863"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="673.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.94 0.45 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="673_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/673/673_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/673/673_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/673/673_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f282beb80dc029b1ce92a4aa030902f2260d48
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b68aae12dcb970c56d1970ccd94f91c06146c2c8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f070ca2e3178909be956244ab9740fb26826b8e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b96eee001b5f82254f256ef956f01aaad263933
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob674">
+  <link name="random_obj_674">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1129"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="674.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.44 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="674_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/674/674_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/674/674_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/674/674_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f48289c81b074f5d7bb7d0378055f4c3f60c42a
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57bf64377ecdbdb8c3b228abf849cda4f823b468
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 675_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.279025 0.593396 0.543344
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 675.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9adbf5ea004e469d2bf90fda7badfafe5590e1b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.obj
@@ -0,0 +1,280 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 675.mtl
+o 675_Cube.2711
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9ab50a3beb7db5e79aca0e629a98b3209e2624fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob675">
+  <link name="random_obj_675">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0813"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="675.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.36 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="675_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/675/675_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/675/675_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2b196f114966d7a7760b3166b9e9e7ee4eb9a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/675/675_coll.obj
@@ -0,0 +1,462 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6c21ca3cd4384721319e5d0b0ff73d68da7e75e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 676.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe9b6b237a640da2b8ef98146ddc1005069dd96b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efdda7616f4c861e586127c1b6c9499f0b148c55
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob676">
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+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="676_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/676/676_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/676/676_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ad550ac8ef098df0248b406f11417b342963007
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/676/676_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f4a6afb6c3279ac53661d7661b2d314c6e3301b6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ffec4ac765e5ae40725f455a9f5cc821943c97
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.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/677/677.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fa368a2b749994de52b2e6cd843d9cf6ef55b3ce
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob677">
+  <link name="random_obj_677">
+    <contact>
+      <lateral_friction value="1.0"/>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="677.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.95 0.07 0.10 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="677_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/677/677_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677_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/677/677_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/677/677_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f667f96212b7a7bde4bcd5e64627b4e53ec5ccd
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b06a3a444f853f79df32df93df7caa68c88725dc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 678_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.217027 0.436893 0.528443
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 678.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5208acfb33661b7f5093950718ef48ac230ce494
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.obj
@@ -0,0 +1,920 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46a46e714c0cc7d829fe9286bef5f5a3b33c79d6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob678">
+  <link name="random_obj_678">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0671"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="678.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.83 0.04 0.33 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="678_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/678/678_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/678/678_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa80388d17d296f6527499ac98a12a9666c5ba2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/678/678_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de088201f5c74567889892a9273d27e6c1657e51
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d9ac4749c8394293c3fc63a0b14c28921c4c882
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86c1c26e7e3552f703a13b606b18738a762f38d8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob679">
+  <link name="random_obj_679">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0543"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="679.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.83 0.52 0.80 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="679_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/679/679_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/679/679_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead10bc740e97355a23ee2aea9b7be600bfd59f0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/679/679_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76250bfaea320631a284ce13042d2647971587f1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 680_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.113828 0.103645 0.337541
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 680.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed49bd258aa4ed72bfb2abadb10759342c750bf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.obj
@@ -0,0 +1,394 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 680.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46ef2c5aa2609cdf282da7ac0cd00ed5749ce1ce
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob680">
+  <link name="random_obj_680">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1718"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="680.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.58 0.34 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="680_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/680/680_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/680/680_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56175d74d79db17b11ee2a8551fe656cf4fe0534
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/680/680_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..085e75f4da787b619b06ca0b48cd21cb088676fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 681.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37dfdc11270fbc7323a50852ad575a1ad0aa2eeb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.obj
@@ -0,0 +1,228 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f417de8a912569a7ee3a8b19e1028ad5aa84521
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob681">
+  <link name="random_obj_681">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0844"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="681.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.29 0.60 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="681_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/681/681_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/681/681_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/681/681_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7b77c2a05927cae38c32ae2a6ffdfdce91bdb9
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a93bdf9f666d150e35606b7e82bc3c3d76a3ea2b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e97c331d26cc09c77a8f486629acbcfe2d9bad
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..754148240355f3733ccbd1392bb4867c6ee40189
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob682">
+  <link name="random_obj_682">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="682.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.56 0.23 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="682_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/682/682_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/682/682_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/682/682_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b3bdfcdc338e2f468198e00c4c8bdbb90e1063
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e012d1454ac96639588d895f99621939cae30bf
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8aeaa083ca15f50c0a387fb8a23c6025cc70150e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob683">
+  <link name="random_obj_683">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1021"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="683.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.93 0.46 0.98 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="683_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/683/683_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/683/683_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ddf164636a4289eeded68abb10054d5fa3a59e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/683/683_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..994021957b8687e7e42b6ad53432f84d663c7769
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 684_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 684.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f1db009899d19992d6a35cc3557a583944944d0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.obj
@@ -0,0 +1,101 @@
+# 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/684/684.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.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/684/684.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c438c7de2c735492d2012d19f2efc8d504bc4f2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob684">
+  <link name="random_obj_684">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1716"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="684.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.50 0.61 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="684_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/684/684_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/684/684_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6de0d5756af3fa2eeab9ccc05957053c312081b4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61845be6f23c02c628783be2627f2eb70908aea6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88c035ee837070be1f5f5da2827d7c16c280e83
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.obj
@@ -0,0 +1,1155 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1108785c1fb48600bda6dea4180e3ffb2b900e1c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob685">
+  <link name="random_obj_685">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1449"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="685.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.50 0.60 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="685_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/685/685_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/685/685_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d0571861555af931725f8b69c752f7a562dbbf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/685/685_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db75af33eac80f9fd78c8994870e0c47e1de9616
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 686_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.072748 0.352025 0.169834
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 686.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258fb754da1df45b6faca059560cf9a660ea84d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.obj
@@ -0,0 +1,5865 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 686.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6782edd4d955322749df178a74cdbcc0b03b92d3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob686">
+  <link name="random_obj_686">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0752"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="686.obj" scale="0.0062 0.0062 0.0062"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.19 0.38 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="686_coll.obj" scale="0.0062 0.0062 0.0062"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/686/686_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacd4ea4d5b1032cf75fb55aac5bd5c62489e611
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/686/686_coll.obj
@@ -0,0 +1,1023 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8390d46edb6cf14990be91b2490ac2c21a2a1084
--- /dev/null
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@@ -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/687/687.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5369857b2ac428f4d46e12968cb30b79bff86b5
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d3201e450b05ba3abdd086e7409d7b3e16b9165
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob687">
+  <link name="random_obj_687">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1134"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="687.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.27 0.13 0.95 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="687_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/687/687_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/687/687_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e185b9c312967f7ee43a7c53153d3a6723226a16
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/687/687_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5ee6896e066b405fed0b7f28f707566763710f9
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66e39be01c56ea8c13d802447eb862d030e61aa
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eaddc4d1a67df7ba2f75a9805cf0a6d6c42806fd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob688">
+  <link name="random_obj_688">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
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+      <mass value="0.1147"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="688.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.38 0.20 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="688_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/688/688_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688_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/688/688_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/688/688_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..582ad67c0a1c01951820adc0d08bdc33021387f8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a992984c744c3dbc42389459635c726d219ff013
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 689_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.495430 0.360406 0.246460
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 689.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a7a5bda136d44bb96caedf4c65c3f5af9bec5f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.obj
@@ -0,0 +1,685 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 689.mtl
+o 689_Cube.2768
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99d20cbf9d042800fd8d6af6ea2a8f7eac1f6489
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob689">
+  <link name="random_obj_689">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1133"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="689.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.08 0.13 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="689_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/689/689_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/689/689_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316ff85de7db52bf58091fbbc870723a7d9fc7df
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/689/689_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..caba8307e83a15d84b2d2baa57b16f4c5a5f0090
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 690_mtl
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+Kd 0.209453 0.133627 0.002621
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 690.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f907b2a54b7afb9d4c480859f487de5bb92563
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.obj
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+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..891316492e04ba49e95fc9602a0f19a8ff306aba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob690">
+  <link name="random_obj_690">
+    <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="0.1200"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="690.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.74 0.03 0.73 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="690_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/690/690_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/690/690_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9a29e149c89aee595e4b0d0eb57ade935150da
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/690/690_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c6b04df47271bb760a94f2da0cecbc1fc356cb9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 691.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.obj
new file mode 100644
index 0000000000000000000000000000000000000000..872748fcdb499ddfc8d49965ad0cc3ae77d1eb17
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..56d82a441022797492c5acfa1170148d4d0bd632
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob691">
+  <link name="random_obj_691">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1031"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="691.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.97 0.10 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="691_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/691/691_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/691/691_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/691/691_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77a5bbb36594be0bc1a75dd6d93c0c29804ce18
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff7dcd8d66616343ad0d531048f220b71d54fd9
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d15660639ead8a0f6ba4f05ab1af5bd82fd6f42c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob692">
+  <link name="random_obj_692">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0612"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="692.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.07 0.07 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="692_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/692/692_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/692/692_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7db215f69d98afc863a0e42ee5ea7d64667f3e3b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/692/692_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.mtl
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index 0000000000000000000000000000000000000000..9cb3aa4b8e4f7694f9b3363a40985f8ee4a29f7a
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48cc5d075f39b39804b7e0965b6703b80670233
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33ee7fc851c7dce47255ec3c9e34c5b996749c04
--- /dev/null
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+      <mass value="0.1282"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="693.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.31 0.94 0.24 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="693_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/693/693_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/693/693_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c805e7718ebac9b5e33e7e164ca921a71a7be1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/693/693_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4141ab0db8964dec14cdb5ad5da5a60a3fc2660c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.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/694/694.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dcc6a0ad2e9d6ce5e891eece188336365a1da96
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73badeae0b76320402846dad4dd8d5e50b0f96a5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob694">
+  <link name="random_obj_694">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0642"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="694.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.52 0.19 0.88 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="694_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/694/694_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/694/694_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/694/694_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2d85668d5432f5fef5513e8569eaccafe5c379
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a54acf169b45d7e49a3f905d4d6a19ae86c269c
--- /dev/null
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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/695/695.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d410f54901eb77b29702a52260b571f2d5a87ba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d984373f734049168e115c2f33a51f1381257f7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob695">
+  <link name="random_obj_695">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0805"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="695.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.77 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="695_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/695/695_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/695/695_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b87c3d11581ae9d4e8e11758dc0f07fb4d06f10
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/695/695_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc25783c66799f8ab9a344161c678c130f9c3d94
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af22fdb509bf4339dcb1cf8524a88f9fc954bfd4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f404c25390dceaa0f7ab0282ac7ee8b0582b05b1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob696">
+  <link name="random_obj_696">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1485"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="696.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.56 0.84 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="696_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/696/696_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/696/696_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df0394132400e6619c342208b143887e5a76775
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/696/696_coll.obj
@@ -0,0 +1,456 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1bd2ba231ef5f71f3f352accd535cf824adde757
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 697_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.317572 0.083003 0.202790
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 697.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82002eccc4fc8568cb0957b84214a11e4b71f229
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.obj
@@ -0,0 +1,5431 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 697.mtl
+o 697_Cube.2798
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..67054a1cb9473a527212067cc35a9af58ad371eb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob697">
+  <link name="random_obj_697">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0910"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="697.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.48 0.51 0.79 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="697_coll.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/697/697_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/697/697_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f739e39b3b41379d8d3d7e7ee10e2a89fa04d96
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11cd6d6199917b4c0a4debabe149e09b338393f3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob698">
+  <link name="random_obj_698">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
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+      <mass value="0.0935"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="698.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.78 0.61 0.60 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="698_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/698/698_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698_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/698/698_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/698/698_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..819da2d405f839cf2547302b504af6ce573b30e3
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94248df686b9d135bebab9098bf3094de07f8191
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 699.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dcf1fc83d28d6005c62180da1f220efefb3991a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cfabeb52e3ffd08d00a2ea683a8aa5d797734031
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob699">
+  <link name="random_obj_699">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="699.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.46 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="699_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/699/699_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/699/699_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/699/699_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c48d47ca5aabd4fc342d0a3989b69f68011caa6
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ca6b5af3061aab4b50ad6b3ea840e1b9c03101fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 700_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.655802 0.019004 0.493283
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 700.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0209c7402fd5eec50203957a6fb2d6872365ad
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.obj
@@ -0,0 +1,741 @@
+# 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/700/700.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4280198bc387c712587e6fbeced9ba249fe254c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob700">
+  <link name="random_obj_700">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1277"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="700.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.49 0.85 0.64 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="700_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/700/700_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/700/700_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7276aa7c38d58e58412a4706e13afe4b18f0438
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/700/700_coll.obj
@@ -0,0 +1,504 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..623c7730ece0c3af569907c3dc04feb9c3b9ac20
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 701_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.067976 0.665958 0.320123
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 701.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182d366394660d7e5c2cbd81e0dd88f1e73c303a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.obj
@@ -0,0 +1,564 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 701.mtl
+o 701_Cube.2815
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b9f1c1ae75849507d10aafeb4086798a356801cd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_701">
+    <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="0.0897"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="701.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.13 0.79 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="701_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/701/701_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/701/701_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653962496e7f09b33f757c45664da7d18a8953d0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/701/701_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bce1732d940b8f43a1643460b3b37ff1724080c1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 702_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.363876 0.291806 0.135267
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 702.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c884077f220667c84c6b602783b1c4c75045ad56
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.obj
@@ -0,0 +1,683 @@
+# 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/702/702.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702.urdf
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+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="702_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/702/702_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/702/702_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02642ba4a3ec75d027dc6d03c90ac085c7e413bf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/702/702_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..faa380d7831452e79ea27546d07399671d1eb396
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f1b0c8ee2b40b8f3ebc400d950b4e151c99f63
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..00959e2cfdcb5c80cfe9001e73d22c5b75346f6c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob703">
+  <link name="random_obj_703">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0709"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="703.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.63 0.13 0.29 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="703_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/703/703_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/703/703_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1094b46ca6d29065b793ef92c7fe2c1f96a498
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/703/703_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e44c7992b903d6b3760e68509cc723197111fe55
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.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/704/704.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672af2f58327e475c3c37f9acf4c9a1c8d734e10
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9a74d9a679491d2c2a1e45746745b256989546a8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob704">
+  <link name="random_obj_704">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1115"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="704.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.22 0.48 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="704_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/704/704_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/704/704_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bae8a5cc14eda48e7ae78c41beb2539f6c878d6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/704/704_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8425fecb5b29ee70d51bc5a5945ed6f03741304
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+d 1.000000
+illum 2
+map_Kd 705.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3aa975fd4e7d64b824402e729a70bf8575b7761
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36742209d5d38b66f2e0e19bcb3a9753ee999cbe
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob705">
+  <link name="random_obj_705">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0650"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="705.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.29 0.31 0.10 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="705_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/705/705_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/705/705_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afdfacacfe5da2a01f3bc60be22e0db3eb155fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/705/705_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f7c590b92d1b03d58b30d672ea3f532501f865a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 706_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.069488 0.773899 0.199307
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 706.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56fbdebda430fd842bf6995da01b734cd96c10c4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.obj
@@ -0,0 +1,277 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 706.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a51592d0117010f67f23a3c9d5486b18c13d5ae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob706">
+  <link name="random_obj_706">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0785"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="706.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.39 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="706_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/706/706_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/706/706_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d1a942e0a9441915f6f7e4b4ea3002830363ec
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/706/706_coll.obj
@@ -0,0 +1,318 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27c9d47e379bce7348c75375f12e4a76d7b1ee8c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 707_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.266926 0.655614 0.195443
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 707.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dadfeca943f8ff33177bc811923359f6350a1540
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.obj
@@ -0,0 +1,1056 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 707.mtl
+o 707_Cube.2841
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..adf26b906b64a458c11ca43f3a4d59a805d49d44
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob707">
+  <link name="random_obj_707">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1177"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="707.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.69 0.31 0.35 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="707_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/707/707_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/707/707_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/707/707_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb368cc93aadd21b8437df9c5830356ca9919e7b
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..465a78efe11037accf2a5b69d8df30a93222ad25
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca11338c342419bd689cc61d265f18d2dd5f51ab
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b35f050b7dd3e52a3e17e3411b992fa84847c73
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob708">
+  <link name="random_obj_708">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1051"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="708.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.70 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="708_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/708/708_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/708/708_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b79e0e03ee9465cb87e25ca915e060040f76751
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/708/708_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d6d1120928853fc474514fe1d47436b8b0507b6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 709.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c848154ec85e838b3d3a88eb30cbfb1795bf90e2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1edaaf2512d63ebeffa820059c02dced3a56a1d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob709">
+  <link name="random_obj_709">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="709.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.20 0.82 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="709_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/709/709_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/709/709_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc8d99d7f3ff490a720af6c92e7d848ed3dfe55
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/709/709_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d290cd9c19f0423983af46496a85214cedcca03f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 710_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.620935 0.641791 0.180789
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 710.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75484d086f8e2cba2ecc802bb45e628bb9853ec5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.obj
@@ -0,0 +1,5651 @@
+# 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/710/710.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ff450b19cd6ce600776dfd54f1f822a2e783c657
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob710">
+  <link name="random_obj_710">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1037"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="710.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.45 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="710_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/710/710_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/710/710_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e249e9d9b9ace28853ec7b357f66bfd0af1e08ba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/710/710_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..15463adb34241a29c102bc868db74537c177ee2d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 711_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e156655b465213c0d866998c1484c794fcc5c2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.obj
@@ -0,0 +1,229 @@
+# 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/711/711.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf604571ab2d8c4d18f3e90b881a6d9391832ea2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob711">
+  <link name="random_obj_711">
+    <contact>
+      <lateral_friction value="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="0.1016"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="711.obj" scale="0.0096 0.0096 0.0096"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.73 0.03 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="711_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/711/711_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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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+illum 2
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b3218538cb47fa43ef26a9e5b58ce8a1c76127
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/711/711_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b42883abad042d0270b01e1f4cbf835c3d16c96
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 712_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919349c3f925c9d789510f9d94b3c9bd3c7d3a9f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07de2015fcd40e68691cca5cee6391fda4136c78
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob712">
+  <link name="random_obj_712">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
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+    </contact>
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+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="712.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.79 0.68 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="712_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/712/712_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712_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/712/712_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..685141301e3914ea8aadb9ea02b555a15156b8ae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/712/712_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc3dc58f0cacb95b939e1fa2d964f0a70ab16593
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 713_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.057711 0.118124 0.235339
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 713.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ede9b82cc3b9e59794b76dd806bc8f8c30c04f2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.obj
@@ -0,0 +1,1317 @@
+# 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/713/713.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c71932b9724867f50d610454861d341a0c2a0674
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob713">
+  <link name="random_obj_713">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1487"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="713.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.04 0.85 0.09 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="713_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/713/713_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/713/713_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3338ad8f0054a7fec4df161a4d5646b4540875c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/713/713_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.mtl
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index 0000000000000000000000000000000000000000..837c93712ea99913d6fe9390adce722824ed3f26
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49949605983a442534133b8c9d8a7f5429b8cb8c
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..224d61dda8f9e35b7852ab9c5e9534aa15a962f6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob714">
+  <link name="random_obj_714">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0980"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="714.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.36 0.40 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="714_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/714/714_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/714/714_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..987acf1779a1462d28420ac793dfbdb67aedbfc8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/714/714_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..05694176930c05a9b214f50fb804e8114ca8817c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.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/715/715.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7c2c276cf4a93a8d1d4966e6228fa06d14b5da
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bce14f875edfe0751377da27d051f1d15e3e853f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob715">
+  <link name="random_obj_715">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0869"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="715.obj" scale="0.0057 0.0057 0.0057"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.50 0.74 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="715_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/715/715_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/715/715_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/715/715_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6380b0626e8428a3523ed142dbd501d2c7a39aaa
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f657b97bb13d2fabcfc65ee71358d71bde7ae682
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+d 1.000000
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1747d27c41f3eddc042a0f3181e4c5b09f518a4d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2abf8f034a0e506163c38a82e4c0914df6f33b64
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob716">
+  <link name="random_obj_716">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1066"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="716.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.23 0.97 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="716_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/716/716_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/716/716_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d581ea08aa966fcf807993938346115e70921d3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/716/716_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..646593bdde31ee4b57efa2780a05f9061f16670f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.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/717/717.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72307621562827da7622cab3ef5d13f36a13697c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1bdfbc0f5728309e6a0cbcd518c83cce00d9e84
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob717">
+  <link name="random_obj_717">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0913"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="717.obj" scale="0.0058 0.0058 0.0058"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.64 0.72 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="717_coll.obj" scale="0.0058 0.0058 0.0058"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/717/717_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c303acfe6ce5365d2b912447c49acb5caf81ae23
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/717/717_coll.obj
@@ -0,0 +1,1116 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56a4e802750e753f5870f9bfb84758bdfbcf3173
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 718_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 718.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840afc12be707a88592a5617e20a5aa898e23487
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.obj
@@ -0,0 +1,5824 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..784619decf2376c33e3607fbecc263417539fbb7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob718">
+  <link name="random_obj_718">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="718.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.95 0.57 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="718_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/718/718_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/718/718_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c816757156f7f6639930d213d5c460e69ccb613
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/718/718_coll.obj
@@ -0,0 +1,1044 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..759c91e3a6a972baa1ecf289faf4ea38acf0550b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.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/719/719.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9fef0afd20476f06938b24c66abccb45a0d411
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8bc46e4f6b9915b37501668033531d123a1fd783
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob719">
+  <link name="random_obj_719">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1577"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="719.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.75 0.79 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="719_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/719/719_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/719/719_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..163a30ee59ee0057aae5639772655139f7d8fa97
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/719/719_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f9c273578e6ed6d3cc0cca6f0fc1ea121a5c7cc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 720_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.216525 0.620142 0.420965
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 720.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.obj
new file mode 100644
index 0000000000000000000000000000000000000000..479bbaa2df4de273c9a5b7b9c7a7da73287cfc51
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.obj
@@ -0,0 +1,5255 @@
+# 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/720/720.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fe3c329854b9ff3ffef3a30ed97de48dc20fb41
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob720">
+  <link name="random_obj_720">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1267"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="720.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.29 0.35 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="720_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/720/720_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/720/720_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03a3e3ec7c5bbf44baa3926a1de1d16f2cfc945
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/720/720_coll.obj
@@ -0,0 +1,972 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..503da7683658a12583a333f5253afd27b1098538
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 721_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.637422 0.554192 0.227086
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 721.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1d481d1ee4326b0ada7b29c5d5edec52b747e8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.obj
@@ -0,0 +1,281 @@
+# 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/721/721.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a071ca97db8ecdf03b007af60474424100cf8e0a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob721">
+  <link name="random_obj_721">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0761"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="721.obj" scale="0.0100 0.0100 0.0100"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.97 0.22 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="721_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/721/721_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/721/721_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064c9cfbec5f803d3f399ef6b3d7c035ad2c3d24
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/721/721_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8888e638a0832b43253a3279aa392bea23a4eff
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
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+illum 2
+map_Kd 722.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ba7ca6601b6de48a61275c094952aaa5d8f3ce
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f733c56b0525f7324f64a14cf18a706cf7a069c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob722">
+  <link name="random_obj_722">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1066"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="722.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.26 0.76 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="722_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/722/722_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/722/722_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f33d5ec4b4b3d1f23e7d846e2831f47902b038
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/722/722_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7474940c9dd90e8a46a39c15a0e2109cd0dc7624
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob723">
+  <link name="random_obj_723">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1123"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="723.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.02 0.40 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="723_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/723/723_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/723/723_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2e420487e660ef9ffadafb162ce322b5fa94de
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/723/723_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8edc47aac9772b664052e487677a69797941e24
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 724_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.755232 0.297873 0.561405
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 724.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b367de8241218d1b36eb0971dee57b30f95c33
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.obj
@@ -0,0 +1,43 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 724.mtl
+o 724_Cube.2905
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+v 2.077602 6.428408 -2.776596
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+vt 0.000000 0.324729
+vt 0.018204 0.013497
+usemtl 724_mtl
+s off
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+f 2/13 7/14 6/15 3/16
+f 2/17 1/18 5/3 7/19
+f 6/20 8/21 4/22 3/23
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed8944f17b06360778590b9e3c074694a8f1c4ed
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob724">
+  <link name="random_obj_724">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0542"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="724.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.41 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="724_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/724/724_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/724/724_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e3b640e20e04afaf394b46007ef329362f9458a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/724/724_coll.obj
@@ -0,0 +1,135 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39d249d63ab3775eefa9f0147c718fbba733042f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f916eff25e38b15b700d0e1883745bd42fa3f6f5
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b83d369dee6bb26d0007857e5957e9299f84512
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob725">
+  <link name="random_obj_725">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1084"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="725.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.44 0.10 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="725_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/725/725_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/725/725_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c4837589097c091400e7b3392335643b88b97a7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/725/725_coll.obj
@@ -0,0 +1,309 @@
+o convex_0
+v 1.491404 2.552959 -0.024917
+v -1.752819 -2.229420 0.015510
+v -1.752819 -2.229420 0.055938
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+v -1.144463 -4.785191 1.069806
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+v 0.801797 1.864305 -0.957399
+v -0.171162 2.391187 1.029113
+v 1.734815 -1.823867 0.339725
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af74dabaddb8579c5b62e1359141d9f86cce68c3
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac1d2c73e9d8ddbb3605af79f9ae6ffae31c0de
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..25ca534bb9057940e002466f2b37ee015bae50ef
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob726">
+  <link name="random_obj_726">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1138"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="726.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.54 0.23 0.80 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="726_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/726/726_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/726/726_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e83cb3b84eabac0d90b2c5e1434d5fe208ca9fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/726/726_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a0df9861386be94b63b2f07f7a68fbfcfb1b8ea4
--- /dev/null
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+# Blender MTL File: 'None'
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+illum 2
+map_Kd 727.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e6c32398c1423aaa12b9facd5e8a7db98be271
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4a9356cfdaaee70781399b6ece0a75f760bcfc86
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob727">
+  <link name="random_obj_727">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1608"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="727.obj" scale="0.0097 0.0097 0.0097"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.06 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="727_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/727/727_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/727/727_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594c023b8eb2882feafc6c6e837effa5330c5d65
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/727/727_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4155195a53806a292cbd7acf9ff5f59c168575f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 728.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d966bcf22cb5e3362c90ded9db5ac785ccc992
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4dd7e9153d80bd6d5c86874f82fecb7427fc3958
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob728">
+  <link name="random_obj_728">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1503"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="728.obj" scale="0.0103 0.0103 0.0103"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.19 0.71 0.88 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="728_coll.obj" scale="0.0103 0.0103 0.0103"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a39da680daad72cde2954b5c6bb83f19e3a56e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/728/728_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c59d5206ae5f30a455e526a076b1e3b6e481033
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c78e2fd02c411e247b6d4550330cebc3181ab6f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d55a372cf8675ff5524ea01b92abe4d2b54b2698
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob729">
+  <link name="random_obj_729">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0887"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="729.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.53 0.00 0.70 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="729_coll.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/729/729_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da703e42636b2ec0db271a8be194623d88be76e4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/729/729_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.mtl
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index 0000000000000000000000000000000000000000..1543de06e23099c65eaea0c017d472f8f20a6e55
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85a9946b66b4f3a6468aa0c986e954c7023089a3
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bde696b60fd60b917ef49abfedde2e1b55464e64
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob730">
+  <link name="random_obj_730">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1342"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="730.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.21 0.24 0.45 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="730_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/730/730_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/730/730_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d7ed601996b87d2dacb3f212cbed281b6e290a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/730/730_coll.obj
@@ -0,0 +1,1017 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01cce3145dc0c398a4112bb89744835386cfb338
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.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 731.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7092a0b46377d90bb49fa0479c8632545b5140
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1784b8065f4ecf10d1de387a9e09e1fa3b52daa0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob731">
+  <link name="random_obj_731">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="731.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.00 0.46 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="731_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/731/731_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/731/731_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a9ce2b182489b69ea2f1dc024ebe0fbfe2ca18
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/731/731_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/732/732.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/732/732.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af1c9f0dde34dec672d86952a0b4fab405c6ecd9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/732/732.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 732_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.781599 0.250380 0.562480
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 732.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/732/732.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/732/732.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8309ac7ff2925712f51fabe5d0ca27023a20d5de
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/732/732.obj
@@ -0,0 +1,282 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 732.mtl
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index 0000000000000000000000000000000000000000..cb0a631c2d82621c424cf2a19b8f41dccae20f4e
--- /dev/null
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