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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a681b766c7f4184eddfd8804b33d502d804cde61
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733.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/733/733.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/733/733_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793d4ae035b8c10a9805cdb90470dafd4333a6c1
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3921e0193cc247c6c5e095a08bbefa29c8e6e65e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c411f8899fa688b234e9926bf87ccfaf37ce71
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.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/734/734.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8b5d60224bd15a6a4954e3d5fc27b27689b7125
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob734">
+  <link name="random_obj_734">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1057"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="734.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.33 0.04 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="734_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/734/734_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/734/734_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf824c0e15a3d6974c138ddb8abb88d41e68b9a7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/734/734_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..388fa94fc6ab543c09824d4a0bcbc51fa667973f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 735_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.667886 0.120668 0.466490
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 735.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a5f5a6983df1d2e91fe734f6141c8ce5146757
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.obj
@@ -0,0 +1,5087 @@
+# 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/735/735.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..66b8b007921cbff187232f12c2988358137d6d28
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob735">
+  <link name="random_obj_735">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="735.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.27 0.35 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="735_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/735/735_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/735/735_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda84f52ca066dc0c561bd744d48f1f64d9c8b11
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/735/735_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e7d0061fece6f06c8749a69af231025ddbc86197
--- /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/736/736.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674f0cb8705fd4ba46f638d377f0a1ff4f3e835f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c501b89054bb3cfa757497b999f296489bc96580
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob736">
+  <link name="random_obj_736">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
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+    </contact>
+    <inertial>
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+      <mass value="0.1171"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="736.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.47 0.15 0.18 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="736_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/736/736_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 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/736/736_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d84f055f768d67ebc3ca1ed3ac1269b9b5a9b1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/736/736_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c2fd803c99544f3bd1e1294cab2a042e3b05edb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 737_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.627626 0.628118 0.190480
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 737.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8b5f03f9558eb492ddb603acb0d7fc2dc57053
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.obj
@@ -0,0 +1,188 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 737.mtl
+o 737_Cube.2959
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..04b70ceb68ddeb9d72814cdd66dc456d1009effa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob737">
+  <link name="random_obj_737">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1216"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="737.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.60 0.28 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="737_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/737/737_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/737/737_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe73604d9358562fd1b550370a6e2311119306b2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/737/737_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0cceb8e0d2ff5c81b17a0caf31cc5fb5fd29847
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 738_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
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+illum 2
+map_Kd 738.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb36c5a9f18fc6194d865d8164c5b488e7f15b60
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.obj
@@ -0,0 +1,480 @@
+# 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/738/738.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.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/738/738.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23df33cae1a6e0086ac6d2812b38efdf6a939880
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob738">
+  <link name="random_obj_738">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1097"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="738.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.79 0.27 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="738_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/738/738_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738_coll.mtl
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+# Material Count: 1
+
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+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db23677ce99609b0250ff24e4c2cbb6e6110382
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/738/738_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d9c5ec435319213e8fde8077842e729ae0276d2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e50678757cfcdcbb58c128980f3f7f49753893
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..12d3fe7f68aaa6861dcd5a18369059f70091ba47
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob739">
+  <link name="random_obj_739">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1307"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="739.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.68 0.70 0.67 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="739_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/739/739_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/739/739_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a15957ab96302225c089c1dcd9175d32504cb9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/739/739_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86c519a696f450bb9a4518023425d0263cf4e23b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27fafe9962858d0903be314075ab54fc040860da
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b1abc65135a88b941e98e5c136f9432a39bf41f6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob740">
+  <link name="random_obj_740">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1318"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="740.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.38 0.06 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="740_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/740/740_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/740/740_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b3979875615d6b3c99234d9ae848c88c048119
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/740/740_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e328c9bef2988240c197dbecbf5f2f023e0ee462
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 741.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a1ef751a32e6d3d90b6c0b5d47560454558ea2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62dde87cd63d74715394daec7116c81a98588ab5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob741">
+  <link name="random_obj_741">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0845"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="741.obj" scale="0.0095 0.0095 0.0095"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.45 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="741_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/741/741_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/741/741_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce3fea1e33a3cee900105848a299fa842905b83
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/741/741_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..952a42d55944ecef7a49def258c5cebde87fbec3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae29e8fb9a30d108e5e4c7304a7f01adbc7b6f0f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d4c2af8febc76e445fa6079f183eab1cbac91da7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742.urdf
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/742/742_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d36777f28bd29a31b11bd753bb449f4dc1b2faf
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16cf73e10dfd8f54d4627b0f1496f5f2575f929c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd8e0d14b3af6db35ab6d3f94160fef8c21ddf5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.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/743/743.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1187ad0dbf0ecae75d9d48bf0a0260a4bf3e38a2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob743">
+  <link name="random_obj_743">
+    <contact>
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+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
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+      </geometry>
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="743_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/743/743_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/743/743_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a39d1839c75dd09caa9fb04ecf74f2c02f0baa
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..292c469df49581ee54b4f575395c00f6b83f1895
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 744_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.077014 0.211642 0.186127
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 744.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50aecade49b1ae078af3775aad30f4dc4d2bf6b1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.obj
@@ -0,0 +1,814 @@
+# 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/744/744.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9622955024a1e687f326b837162bae9c3da0618d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob744">
+  <link name="random_obj_744">
+    <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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+      <mass value="0.1097"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="744.obj" scale="0.0078 0.0078 0.0078"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.34 0.45 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="744_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/744/744_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744_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/744/744_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d169dc5c4e3a52535c4bdab050dba6bb5e6874
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/744/744_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3aa3d9ea0952e6f121dbbce07e3187973f7ad9ae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.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/745/745.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.obj
new file mode 100644
index 0000000000000000000000000000000000000000..895917aaa8464d21fafc3ec80d8a7442e35cd79a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.obj
@@ -0,0 +1,1445 @@
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2070de67012f8b7fa8526f4739350fd9e9ccba5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob745">
+  <link name="random_obj_745">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1001"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="745.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.10 0.15 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="745_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/745/745_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/745/745_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35e53db57f3db34db55c3c0c3cd4200c707e1fc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/745/745_coll.obj
@@ -0,0 +1,960 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..541068940a36c82f873f4382e28bc0b1d017355f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8feb6b1a24a6e93c4b15636c13ccd0bc0948203c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.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/746/746.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b02ce0e454ee04a7bbc1670a9748d5cdaa9241a2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746.urdf
@@ -0,0 +1,32 @@
+
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+      </geometry>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746_coll.mtl
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+
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/746/746_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7787483995ab27f4743b47bd2678876ed28256b8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c27aabf223f8804917992545ad741db2099ff9ab
--- /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/747/747.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6555384e094dd0124d9cd83c63ea836de8ed4d56
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.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/747/747.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f032d82ca1e9a726d020c1fa430fb4df20a101f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob747">
+  <link name="random_obj_747">
+    <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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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="747_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/747/747_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747_coll.mtl
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+# Material Count: 1
+
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+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/747/747_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76220907bc1eec888a2f63ca6f5053834972f45
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c85740605f96f8a67d1fa5080228fa81ac7c59e5
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e841bf371ffd6723efe4a0822d2754075d622783
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e843f388ad27ac480612da7a5ade577f8e9edd0c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob748">
+  <link name="random_obj_748">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1239"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="748.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.33 0.34 0.58 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="748_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/748/748_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748_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/748/748_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/748/748_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..520c83349b24301309aacddabd68246c055c358f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.mtl
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index 0000000000000000000000000000000000000000..a1536937003a5f6ae1529fc5742a33aa16edccb9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.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/749/749.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e71ab283ee0c1d879ee08ae6e653b8fad0b5210
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16e2eee91d88de20786ee146c3cc2804e22f4d43
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob749">
+  <link name="random_obj_749">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0914"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="749.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.06 0.22 0.29 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="749_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749_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/749/749_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/749/749_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44bc2844a1bd0f0774961f2ebb9570717801dd4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0021a5a5aeb3419048f9d7c96fe3468e5ed7da67
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+d 1.000000
+illum 2
+map_Kd 750.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d00c654dbfc42cdd77f4a402a25ddd6393656b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ac23bad31c0ac87d17941a9250775e6514a89374
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob750">
+  <link name="random_obj_750">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0634"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="750.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.50 0.13 0.12 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="750_coll.obj" scale="0.0094 0.0094 0.0094"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/750/750_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066c759205775dd8959e8ebbb271c45328983260
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/750/750_coll.obj
@@ -0,0 +1,189 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b3699a412d6d0fd4eb73dceae0592e3f3ba9a92
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 751_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.085201 0.131300 0.206876
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 751.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea1f436094380ea69cd6a4b372bf5690b49c308
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52e22058bdd3674efa3d0163c9ef7d5a8b5c2eb0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob751">
+  <link name="random_obj_751">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1122"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="751.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.59 0.96 0.29 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="751_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/751/751_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/751/751_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0f30b297893be02d2a7d602ba691f1a500f52e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/751/751_coll.obj
@@ -0,0 +1,1023 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bec8783798cb67e6661b569603372bcc5133d618
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.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/752/752.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59cca41366b85ee918500f955e0a1be5fb998e74
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e21fcfd40485622cc899fb3b75c8677a84564c7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob752">
+  <link name="random_obj_752">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0511"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="752.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.33 0.14 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="752_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/752/752_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/752/752_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7924cc8849ccfbdcbcd842ab22f185ae0a4be1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/752/752_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02bd335d03ab2064665fab822b3fe30faa8f1a34
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf0c967836334cb08b902dc6603ef707e31ba33
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f6b71848626b675fd2793062ffafbbae70b020d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob753">
+  <link name="random_obj_753">
+    <contact>
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+    </contact>
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+    </inertial>
+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="753_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/753/753_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753_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/753/753_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/753/753_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b682043b4cacff098e2df931d401ec2d00a822ff
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9693539b865f976c58811488c34ed8ce5b07f57e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.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/754/754.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82cc9d873066cbbbbc3feb045f74ee4de814f434
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob754">
+  <link name="random_obj_754">
+    <contact>
+      <lateral_friction 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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+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="754.obj" scale="0.0061 0.0061 0.0061"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.36 0.38 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="754_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/754/754_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/754/754_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9935a8c89b910f19c23cd1fddeac2f2d03487f28
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ad6cae6930b3aed25795f62d22d2b8645e67733
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.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/755/755.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2692874b068816a2818fe20cb8c02406f513164
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..69a47cd546ed015a001a068a2b1b38a2d26f50e4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob755">
+  <link name="random_obj_755">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0945"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="755.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.42 0.18 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="755_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/755/755_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/755/755_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/755/755_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28ee60c2de13722fe0f7f8253b266179f813a794
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0225b50239cf16980cbe2f91db44ccb3c630a3c8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.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 756.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd9d95b5c34707d5d5ea944c18397d0cdfede427
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0dc4ea46bc74a02f736bc8010ad39fd77b91d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob756">
+  <link name="random_obj_756">
+    <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="0.1232"/>
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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="756_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/756/756_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/756/756_coll.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb21b9b57457d895088dcd031a3c546e6bb8d86f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 757_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.745403 0.144545 0.582005
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 757.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb56c873c881a4b93ce9a324b07b6cade91aa510
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.obj
@@ -0,0 +1,2435 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 757.mtl
+o 757_Cube.3047
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0194439722b83969da87fc21f868bf027aa27c4f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob757">
+  <link name="random_obj_757">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0835"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="757.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.98 0.27 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="757_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/757/757_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/757/757_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71256fd2662b5d50bc3cd908b22241028e27842c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/757/757_coll.obj
@@ -0,0 +1,1029 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1bd12bc762656c52857b5055178cb2f6f6215b4c
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91317c2b70d121b5b433dcef68b04fa35b1cf5fd
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4ef9f8d5ba9f68550c11b30a0bc5d8e85014d7c2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob758">
+  <link name="random_obj_758">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1033"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="758.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.96 0.35 0.98 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="758_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/758/758_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/758/758_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5987ce42bfe741397fa76f7d2a681c1e2f3c895d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/758/758_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ac65514bb4ff48db66b03249cae5ffd47a3d1f5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 759_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 759.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a21d4d47c5220ccc669910146b6a28ad2e15828
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.obj
@@ -0,0 +1,671 @@
+# 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/759/759.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb604218cff19884f0b6a9cda1c8ab34ace8e0dc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob759">
+  <link name="random_obj_759">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0696"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="759.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.01 0.64 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="759_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/759/759_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/759/759_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dada9b5560040212de9b5b9b3810177abb9830d2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/759/759_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..681652f07d90bcbde6362cac4097efde65876438
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.obj
new file mode 100644
index 0000000000000000000000000000000000000000..031a1cf889dab684a9d6330f3202d4d3b6cd76e7
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5698aa996d455bc48ba85c1793173eaf126ca206
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob760">
+  <link name="random_obj_760">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1393"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="760.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.11 0.08 0.90 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="760_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/760/760_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/760/760_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f331219bcb59b65125a08fd244d02a879aebc4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.mtl
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index 0000000000000000000000000000000000000000..a8343815f8ecc5b3cac13486f2965d0b54fb84d1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.obj
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index 0000000000000000000000000000000000000000..eb4005068283dcb9e7b8cc101c148725763d3e70
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3453adb176088e6ee1832943374240cf2e08797a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob761">
+  <link name="random_obj_761">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1527"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="761.obj" scale="0.0060 0.0060 0.0060"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.32 0.19 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="761_coll.obj" scale="0.0060 0.0060 0.0060"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/761/761_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b7d54dff5414c25bd7afddb80c66056af2531f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/761/761_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..201fd471a23a0041a1db3cfc61a207ff2fe19764
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100f2b59558ac45a2bc58075db0744d545324cfd
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ce1e7f6faa6b6816c1896a6b566969091d67faa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob762">
+  <link name="random_obj_762">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1634"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="762.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.84 0.57 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="762_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/762/762_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/762/762_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2e65e52d0cd06148adc522277d8f36e1d413bd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/762/762_coll.obj
@@ -0,0 +1,378 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abed0db3a6600b08105c54b04407ec9c9bff997d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 763_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.539931 0.207404 0.158894
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 763.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6885f9c6a26f7fa4c44bc54e554526d00c057e85
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.obj
@@ -0,0 +1,1750 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 763.mtl
+o 763_Cube.3071
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f7e916913b0dd7dbbea02e84bde966c7dbb84af
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob763">
+  <link name="random_obj_763">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1544"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="763.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.00 0.56 0.59 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="763_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/763/763_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/763/763_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c013fc13e87d8b2b86ed273c6c5350a2c9ef14
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/763/763_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.mtl
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index 0000000000000000000000000000000000000000..c8b934a464e48df47a9a4b730721e859423dd117
--- /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/764/764.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c3d1b91a8b69a075a82eb1596d65313e730547
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e38278062c216bf0512143272a39ae7192ba6120
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob764">
+  <link name="random_obj_764">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0986"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="764.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.29 0.73 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="764_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/764/764_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/764/764_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88741a5ae53af5639eec0616b2b35ef977346697
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/764/764_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d9c2707063dad7c602fec2016b89c823cf3322e9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 765_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.084840 0.589948 0.483652
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 765.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68edfbdb50dd2c5a2544a5851eaa296a66262550
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.obj
@@ -0,0 +1,106 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 765.mtl
+o 765_Cube.3080
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3139e6139c91e690c8aa9859fe8279a2c0d2aecb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765.urdf
@@ -0,0 +1,32 @@
+
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+      <rolling_friction value="0.0"/>
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+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="765.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.93 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="765_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/765/765_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765_coll.mtl
new file mode 100644
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--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/765/765_coll.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4e472977d09efe9b6b0b500d836e3a217aad483
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.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/766/766.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce0a79bce7f7dccb023245da3857357fb77d8df1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob766">
+  <link name="random_obj_766">
+    <contact>
+      <lateral_friction value="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="0.0784"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="766.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.33 0.56 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="766_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/766/766_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766_coll.mtl
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+# Material Count: 1
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+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/766/766_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3382d340480b9c5cee445f464818f73577e1c172
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ecbeeaeb7c0d6702dbb26a6e7b595acd4d5beae
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a62fa13bded762db4b5624db5078ac1a710ca11
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c98b4f881d5a7394986395fb9b45e8132153d2de
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob767">
+  <link name="random_obj_767">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1461"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="767.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.92 0.25 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="767_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/767/767_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/767/767_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03894709e9262f975ea1081e7d3a507e061c3f26
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/767/767_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04e9e20734f67e6c2de833a51134f6a15545f024
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 768_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.401324 0.187918 0.215815
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 768.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43816f428477938383ae99e14cc2aa242d4010a4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.obj
@@ -0,0 +1,487 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 768.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f23d59283e885492a49ec1cb6cec3edb1dea68b5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob768">
+  <link name="random_obj_768">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="768.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.25 0.30 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="768_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/768/768_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/768/768_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1ed050d6aab90232b1f9b0298202e982cd0b66
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/768/768_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b18913e49727fe87fd679fc93bad6825d60c432
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.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 769.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d33de9c8c05cba684dee20f68c87f7d64c562a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.obj
@@ -0,0 +1,859 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..590bbce314ddf16927be2288697fcf9c7dcd2637
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob769">
+  <link name="random_obj_769">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0859"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="769.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.46 0.13 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="769_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/769/769_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/769/769_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fd977e2350c3b08f64ee69d8b7cd8e7e163607
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/769/769_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d17200ded630b69f8b080838c3a4196fa265448
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 770_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.004219 0.031691 0.369528
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 770.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a4a6c5eb81c8a37a674509c8e364f354b4cb17
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.obj
@@ -0,0 +1,6538 @@
+# 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/770/770.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..090e01ba42e284caf5e04c28b72682bc4d2d6042
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob770">
+  <link name="random_obj_770">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1205"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="770.obj" scale="0.0047 0.0047 0.0047"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.01 0.69 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="770_coll.obj" scale="0.0047 0.0047 0.0047"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/770/770_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/770/770_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e28ff634e0799ceaee4d5ceebf9fe8b1b11fb39
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50b38b08601131fcdfdba004440be91db12626fd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.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/771/771.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.obj
new file mode 100644
index 0000000000000000000000000000000000000000..418257b6a1a3f994f7e5e74af79a2a9944e0eec9
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd21e4eb1b8e5e78f2ad16df93a17c3637f0666a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob771">
+  <link name="random_obj_771">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0904"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="771.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.37 0.87 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="771_coll.obj" scale="0.0066 0.0066 0.0066"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/771/771_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f8fd59eea22a7aad868f9bdcccb3e7092391bc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/771/771_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41e44f0698bf65ee229bfedca7611435ad505dc9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.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/772/772.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7550a408a67461610560df0c3717e8e02c105e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b26b7a96217b34db943776bbd49e32d5edb16ae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob772">
+  <link name="random_obj_772">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0553"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="772.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.34 0.18 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="772_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/772/772_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/772/772_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49cb2a294ea03dba0b104562ccff2b0e231dd0b2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/772/772_coll.obj
@@ -0,0 +1,366 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1680ef64f1519f7381d692c3df46d8a04f125837
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 773_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.062075 0.700041 0.160878
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 773.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7221319d3617abcb52ad9e62e0ac338afaad4a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.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/773/773.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b6d76f5ca18f42acf7af8b4ae5d05a00f86d3620
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob773">
+  <link name="random_obj_773">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
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+    </contact>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="773.obj" scale="0.0074 0.0074 0.0074"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.20 0.05 0.16 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="773_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/773/773_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773_coll.mtl
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+# 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/773/773_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b6f590fc49474edbfc1edcf58b7cd809f6aad3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/773/773_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75de46e1f2060d9636acb1fff4d46b045945426f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4366740ac674a286294413182639df8f0e00ff
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db527a4ee5a9d037b0a33c7f825f9c3c11348b4d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob774">
+  <link name="random_obj_774">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="774.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.66 0.77 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="774_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/774/774_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/774/774_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f2b2834c20aea075691d3be7ba9d8f4c0355d2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/774/774_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bdb1f522c9974d264260bad3af76ea5497ef3214
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 775_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 775.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2282317fb515dd6a5d62f07fea42150d3606862
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.obj
@@ -0,0 +1,1495 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d4a53d317a0bd6632fdbc13655f0be346d7c9093
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob775">
+  <link name="random_obj_775">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0903"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="775.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.56 0.46 0.74 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="775_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/775/775_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/775/775_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ea875e6fee99f01f292bf9f8eed9a509095578
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/775/775_coll.obj
@@ -0,0 +1,1314 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..62fddef776c5485e663d7351e57ce1c0d53dbcc2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 776.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d35e3de51395129b8973816e1bc5a9095141f79
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..779757015e0ee804658ae3a3055f41749b8fbc5c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob776">
+  <link name="random_obj_776">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0324"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="776.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.51 0.07 0.81 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="776_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/776/776_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/776/776_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/776/776_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcbb05a0613c114f452c794e40fde78822b3af9
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..465578891685ff916649364696d87ae2df450929
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 777_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.632511 0.291287 0.363164
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 777.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854421046a96079097e5a851a23c6de0f6dcca27
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.obj
@@ -0,0 +1,2383 @@
+# 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/777/777.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d73c704f78679bc93966d509bd848c60f434753
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob777">
+  <link name="random_obj_777">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="777.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.77 0.61 0.97 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="777_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/777/777_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/777/777_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628ef639a410e5db497a9a63da926aac998ebcef
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/777/777_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d35d851cd0e2aa1898da3d1dfe4f94ac5830299
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 778_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.155583 0.279018 0.397657
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 778.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fc50fe47c81d1f65fd57a7fc569ce6bb77f675
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.obj
@@ -0,0 +1,4897 @@
+# 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/778/778.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f61beefd7f42dddf01c0359314a651b1aa26304
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob778">
+  <link name="random_obj_778">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0714"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="778.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.68 0.86 0.36 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="778_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/778/778_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/778/778_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64567487cc96b01d4030775a3aee6fb20251726e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/778/778_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5e398c830f5aa7005718d9b2fae997b6719ec67f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f054c1a56e541a088ff85aa98c01186b589d31f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ead49ac91f2e195aa0bf1518e24d3619372a8580
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob779">
+  <link name="random_obj_779">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0200"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="779.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.78 0.92 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="779_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/779/779_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/779/779_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e53b92abc499cafac08b6e36490d49b3594850f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/779/779_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ee1d3ed9f591061b21924a9ec88ad78db9347d2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 780_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.590593 0.026253 0.021783
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 780.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ae179f6753e1a63eb6199e2276bd86e36b28d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.obj
@@ -0,0 +1,4432 @@
+# 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/780/780.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2114d1b43cf4ea617623021327800c65639b8dd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob780">
+  <link name="random_obj_780">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1332"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="780.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.44 0.18 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="780_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/780/780_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/780/780_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f19ff1b531861be90520b8941f511cd95b6806a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/780/780_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5243dab4b530ce67b6b2de371fdfe2e63d26fc73
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbddc59cfac6da2561caef3cd0047bd08a1f9ee
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8c2375ce150a18b953385bc6fe996ef326ee5eb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob781">
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+    </visual>
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+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="781_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/781/781_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/781/781_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c912a387e9edf79ea36fe6b81ecd89af24d795ef
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/781/781_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7b48251abb012184faa1c0e6a75bf81a173eb30
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6091bfc947be9dbb3f1c263fbbd03b8b860894
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..160908c3a438c0b68a3273440ca9c7e223036543
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782.urdf
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+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0997"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="782.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.07 0.84 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="782_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/782/782_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/782/782_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..518da8b38a1ae0d33285e6b87aa444155439f4b4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/782/782_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44df9367116aafee0e0ef82238e667664f0b0a5e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 783_mtl
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 783.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9424f12aa480cb2348950dd73bdb64cd34cae6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.obj
@@ -0,0 +1,2573 @@
+# 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/783/783.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8507d03c0bb26bf93914094a53b9eb4657b04929
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob783">
+  <link name="random_obj_783">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0892"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="783.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.66 0.71 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="783_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/783/783_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/783/783_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997be4cf5ba83ceab8f8f97237e87994f41abb08
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/783/783_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b9a01e704f532719caa51b83784aae700cf481ed
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 784.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0100a549641f82d92b88544131d70f5c681bc080
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65c576754dafb7d462f2f1be923d86ce37ede5ea
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob784">
+  <link name="random_obj_784">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0908"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="784.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.46 0.46 0.04 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="784_coll.obj" scale="0.0063 0.0063 0.0063"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/784/784_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883fc468e346b6dad30a32c1c3dd30c6239cf57e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/784/784_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d24219db4e8216919020f9715de31881bf10bf39
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.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/785/785.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40cf46f2f8b9fd54511fc4c7df964400d232e684
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a9432971b1bb027c2f60ca70006b31d88697b5ab
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob785">
+  <link name="random_obj_785">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1341"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="785.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.03 0.14 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="785_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/785/785_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/785/785_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd8c36cdfc394b31dba0f9031acc12bdc6d4148
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/785/785_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff97d1557262b7aeac2cf3ae3951691cc9cd56a1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 786_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.273876 0.484467 0.650997
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 786.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a120bdf925ff34eeb6e8939c6d513910e14b2ed1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.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/786/786.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc7328e065747eba5d4535952241f24c53214eb9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob786">
+  <link name="random_obj_786">
+    <contact>
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+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="786.obj" scale="0.0108 0.0108 0.0108"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.54 0.29 0.59 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="786_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/786/786_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786_coll.mtl
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+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/786/786_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09eabfedcbc1fb94bb9b7470a18129dc50df2c80
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.mtl
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index 0000000000000000000000000000000000000000..0e831abc4a700ec77b7dc4c97543122add553e9e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e76e8a3f913bcb538a840aad3a53b34c017382e4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b343c68ed5f05d2b9fb884795fb573c818ee32e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob787">
+  <link name="random_obj_787">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1024"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="787.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.55 0.73 0.24 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="787_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/787/787_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787_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/787/787_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/787/787_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fdf0989ace022c905c430c21df7b5b479d15cf
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da7b2ee2314a9b5d34932e6796b96209c6088d0f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 788_mtl
+Ns 96.078431
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fec0c7cc3ba5bb5d0264e4cb0fd8899ebf68e22
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob788">
+  <link name="random_obj_788">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1573"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="788.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.52 0.83 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="788_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/788/788_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/788/788_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/788/788_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19116079f6c0d6e787efef3c4ba2454bba23b89e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..605224d517e53dc011af2ecaf59e92193063f46f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 789_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b53875e84c290fca07a1c7bcf319e27d9504997
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.obj
@@ -0,0 +1,163 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.png
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..91a6b1e876ed2d0cf8e2354277b9fb0bfd77eb42
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob789">
+  <link name="random_obj_789">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1245"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="789.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.90 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="789_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/789/789_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 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/789/789_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc6535cf2cd506257ff1390b0ff325854b55ed5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/789/789_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21978989ca27b1ca34185e58ba8fa821b93776c5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 790_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a37ace82f15c735eee951fd357e3c134176342
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.obj
@@ -0,0 +1,691 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4ed74123cfb42e7944f2a43f4e22525118547d2e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob790">
+  <link name="random_obj_790">
+    <contact>
+      <lateral_friction value="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="0.1392"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="790.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.26 0.21 0.01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="790_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/790/790_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790_coll.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/790/790_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdc17b07ae966b5e9c0784b236b26568ca9e3da
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..473735163a597e6e8494e769d69f3da9f20ce501
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be1a8dad72fa0939d08270553af639ea1e9a7e3f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9901d17774cb527bc59ace4ae96faaf6a1b30960
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob791">
+  <link name="random_obj_791">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0801"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="791.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.29 0.17 0.26 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="791_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/791/791_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/791/791_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd0388b44848e0e4bc45266572c88dc7b544575
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/791/791_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df1f0527c2cc5a81b7a9414a921f06b406326bbf
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 792_mtl
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+Ka 0.000000 0.000000 0.000000
+Kd 0.417230 0.547404 0.191142
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 792.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73871f892ddf276de7e2f96bb72b4590f062e9e2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.obj
@@ -0,0 +1,7216 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53322741f7f64f5ada19b487cdafa015ab990b2d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob792">
+  <link name="random_obj_792">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0939"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="792.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.86 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="792_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/792/792_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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+# Material Count: 1
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+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/792/792_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2207a5b65b3defd9d47fc31de3829c6f49c482df
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3653a7e0d19022378d2452b06b6fae8cf0f25ea4
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.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/793/793.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ecd4f2a85bf659b419ea109d34ab664013ebcf7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793.urdf
@@ -0,0 +1,32 @@
+
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+  <link name="random_obj_793">
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+      <rolling_friction value="0.0"/>
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+      </geometry>
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+      </material>
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+      <geometry>
+        <mesh filename="793_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/793/793_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/793/793_coll.obj
new file mode 100644
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8ef1ff6bab2daca2f2b7be7f6621e60554b2e28
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.obj
new file mode 100644
index 0000000000000000000000000000000000000000..141bfda986796f0b7dccce850587d955897511c8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..566a7ffc74d0e1c8eed98bb95f6971a359d66c55
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob794">
+  <link name="random_obj_794">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0977"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="794.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.05 0.45 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="794_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/794/794_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/794/794_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55860a14ec258c73c5d643fc7ea994d60b84aa23
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/794/794_coll.obj
@@ -0,0 +1,1152 @@
+o convex_0
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+o convex_1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9dce6b255aee9916352f68e53a5b08b503aa1d14
--- /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/795/795.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3f1fbf7a7d746c37228b6391ba4ef9fe931ad5
--- /dev/null
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="795.obj" scale="0.0083 0.0083 0.0083"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.60 0.27 0.47 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="795_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/795/795_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/795/795_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e152092d46685675fb9850b82e88c2e37b15e0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/795/795_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dcc6d7c133e06ed9332ba8641d18524df4b7f25d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.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 796.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef3ff73a622edf4e04d21d4b232082ce4cb9698
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cbe61b0000f504b79e8c9b62ee7c866bf4eb67ae
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob796">
+  <link name="random_obj_796">
+    <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="0.0749"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="796.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.00 0.89 0.17 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="796_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/796/796_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796_coll.mtl
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+# Material Count: 1
+
+newmtl None
+Ns 0
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+Ks 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/796/796_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c06d8b9a3c31aae6aa0b3e3ade3f3593f1d221d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81e3f971d0b17e4c4851b905ac4eb26a20175e8f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.obj
new file mode 100644
index 0000000000000000000000000000000000000000..359d1910ee929ef9c2b429907b8da267e243a51f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22803a83347f431631ac7e5f5e67838a65bef33d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob797">
+  <link name="random_obj_797">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="797.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.16 0.27 0.45 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="797_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/797/797_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/797/797_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1dd1ad34ac23519aad82e551db2d2cbf57fc5e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/797/797_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dff2f56d4bf5d7e45a6c532a328dabefcb898e8d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 798_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 798.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac85f240db7e1743dd62984f6e51ea4b4b4c86b2
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.obj
@@ -0,0 +1,6470 @@
+# 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/798/798.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..091a5105218f2f9794b6ff7d0d47653c645e2886
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob798">
+  <link name="random_obj_798">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="798.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.40 0.72 0.82 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="798_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/798/798_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/798/798_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d22c492f19e3695e81676433381d7e3afde44930
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/798/798_coll.obj
@@ -0,0 +1,378 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04d681bfdf78bc4b858e2cd113e58ada6f718c18
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 799_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.309764 0.114152 0.640279
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 799.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ca79dfff9416e013d3ce7f42787b7720434a20
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.obj
@@ -0,0 +1,2343 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 799.mtl
+o 799_Cube.3220
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a290b5768d1634020862fe837a0fe41d71505cba
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob799">
+  <link name="random_obj_799">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1653"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="799.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.10 0.90 0.33 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="799_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/799/799_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/799/799_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66743281aebbb380f138b172eb32bb8b66b5cfa
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/799/799_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a19239aff362b551048767f26aa1adc17fb75775
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 800_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 800.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9cf7ef7c944f967410a08fd55415b844370d21
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5593e0beea33416f1d253664eec7ebf3e9759327
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob800">
+  <link name="random_obj_800">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1475"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="800.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.54 0.97 0.56 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="800_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/800/800_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/800/800_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681967d34fbf909b374d8a0ca747245fe3e1da71
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/800/800_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d3b171de4a810a216de47d0b60f794cf5804d777
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 801_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.250531 0.060058 0.141865
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 801.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31aedb04576d26bf86c63f46b4522da5656150c3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.obj
@@ -0,0 +1,274 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 801.mtl
+o 801_Cube.3228
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a54ecc024aa9c5705c9fe33df82a41d2197d1dbd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob801">
+  <link name="random_obj_801">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1261"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="801.obj" scale="0.0084 0.0084 0.0084"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.84 0.71 0.70 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="801_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/801/801_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/801/801_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/801/801_coll.obj
new file mode 100644
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--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4fe604ed1229dbdaf537d457601ba36b110acda
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 802_mtl
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+Kd 0.323559 0.097648 0.052626
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 802.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218acb359858cf944dc42c2197277f4d454339c8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.obj
@@ -0,0 +1,1632 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 802.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fa04e58796498fcb37508d2943940c97d879cd86
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob802">
+  <link name="random_obj_802">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1117"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="802.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.98 0.82 0.41 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="802_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/802/802_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/802/802_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e9dd5ea82b18f45aad088603e9c966555a2afb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/802/802_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..663a74a12b72e65959225d845dc3312a940aa64c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 803_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 803.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9482d72a2f91c3cfa9d274251a56c9a4a37c3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a0e1baf27aaae44aee4d3efd9059329f3176de09
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob803">
+  <link name="random_obj_803">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1326"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="803.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.89 0.37 0.83 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="803_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/803/803_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/803/803_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3f3124f2609579e5c691c5d3df6f80b3383a41
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/803/803_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5dd3194b69699892e4d3bf1d1153fb9dc970d44
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 804_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.558999 0.127542 0.660103
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 804.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f407d5a1b55550f5b0927f01756886906800b15a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.obj
@@ -0,0 +1,289 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 804.mtl
+o 804_Cube.3240
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea2021394af8c1e032f74d144a35f5e66ddde52b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob804">
+  <link name="random_obj_804">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0807"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="804.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.64 0.09 0.29 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="804_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/804/804_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/804/804_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a95d3052a067d71e7df62b143d59139e40eb8d5d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/804/804_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5e614e0a118e9388cc2dcd372726ebbc361bb5d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 805.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26171d0ec29c8c150309d4224c4468544646bff3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..19adbd095c6579786b8c5b5ffba6695cceddd0b1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob805">
+  <link name="random_obj_805">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0997"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="805.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.41 0.40 0.16 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="805_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/805/805_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/805/805_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a143f8f7b2f949394d46fe5dde0b2a59a68a3a1e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/805/805_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7cbc896c6e377f6fc32d703e9bb1df934ceea4cc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 806.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f123e15d841817a7ed9885740fb8abd1ab5e45db
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..92924e7cfe1c4ef0494dac513d14657a32aad052
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob806">
+  <link name="random_obj_806">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0732"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="806.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.67 0.07 0.94 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="806_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/806/806_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/806/806_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1f3c1f9ddbfff1e75237d311b2655cd1688ae3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/806/806_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da35da16cb4ff42fc7e551f02598bcad36a732c8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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+d 1.000000
+illum 2
+map_Kd 807.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e366242e3cde89106a7b1d13507f817805b48b
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13c0a63c1959569d2ed6a7108d269636c939aa5a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob807">
+  <link name="random_obj_807">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0890"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="807.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.99 0.18 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="807_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/807/807_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/807/807_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04775a7d862faa913734d9cf20805f6c530f706
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/807/807_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c9dcdc703b51eb60fd3389205b2901baaa4b9b8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 808_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.586717 0.003289 0.582316
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 808.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3f323bbf63349bb09877b7d0ac5dddb45d3cdb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.obj
@@ -0,0 +1,6188 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 808.mtl
+o 808_Cube.3256
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..728121fb88f9eb156b6202545f7393e1ed0f0f91
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob808">
+  <link name="random_obj_808">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1854"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="808.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.23 0.20 0.32 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="808_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/808/808_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/808/808_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddac984ed619e5c8cc2aee9c557b3efc68c346c4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/808/808_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0dba32c2984e1d7f42f550a10767c88c46a0013
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.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/809/809.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1fce738775e4e185b0048c7760ef43ce76af7a
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..315c671fe3472c9a6c706884aa18f11c7bc1ded0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob809">
+  <link name="random_obj_809">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0265"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="809.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.14 0.49 0.78 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="809_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/809/809_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/809/809_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d666abf1ddadf4e4053dda9f88678234d825ab
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/809/809_coll.obj
@@ -0,0 +1,1158 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00707e6c1aa3ac0cb1ceb89bb9061034210d1603
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 810.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1adf76c7d4748f3e3cc2ccd4ae3efb0c7242ac5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..02278056928d1ad8fc7f45597e73811c34d27a1e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob810">
+  <link name="random_obj_810">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="810.obj" scale="0.0091 0.0091 0.0091"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.19 0.61 0.21 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="810_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/810/810_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/810/810_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579e50c6f3b3c20885d8a0e58609e54907b4863e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/810/810_coll.obj
@@ -0,0 +1,1179 @@
+o convex_0
+v -3.745118 -7.042443 -6.748453
+v 0.094543 -5.951425 -2.263005
+v -0.996911 -5.143176 -2.262463
+v -1.885732 -5.991778 -2.262463
+v -1.684250 -7.648630 -5.172177
+v -1.966708 -7.325212 -6.384738
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c513a5233d9528e113f703bb50def8cd46ee2a7e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.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 811.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d61cbdd6d46ea68a4540bb8d90fb8ad3c4c09b82
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dbf2090248eb0261cb0d8e7b208d37b6b90d6975
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob811">
+  <link name="random_obj_811">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0708"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="811.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.67 0.24 0.53 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="811_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/811/811_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/811/811_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5770e439c4344d0e0521e390143443c5a8c57d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/811/811_coll.obj
@@ -0,0 +1,1275 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7827c43021aa54b623392cfc21fd03705c090676
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+map_Kd 812.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d3dbc5487dc992db3715d4be309cf64cd99b2f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2720a57d436000592bc649138f5b89263f643f8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob812">
+  <link name="random_obj_812">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0640"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="812.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.81 0.67 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="812_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/812/812_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/812/812_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/812/812_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d073fec8f94df834b35892ad1f6e38abda81ee8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2fc1e98ede44dddf9e486c1141040ead38f9ca1
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.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 813.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.obj
new file mode 100644
index 0000000000000000000000000000000000000000..081c5220342edf2b792ab8b614197ba2ea94f912
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..924cffb4f2ae838aa93cae4259ca33f78be64c38
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob813">
+  <link name="random_obj_813">
+    <contact>
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+      <rolling_friction value="0.0"/>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="813_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/813/813_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813_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/813/813_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/813/813_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a99edfb14db8120d0166c63573f74a5715acfba
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f73ce38e4055e63bc2089cfe98a5049710b6536
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 814_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 814.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ad35a1370ddf655bcabb0767da947858933849
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.obj
@@ -0,0 +1,1150 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.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/814/814.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a275ab6cb468ffcdbb116cf9b8ea5131d61fa6e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob814">
+  <link name="random_obj_814">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
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+    </contact>
+    <inertial>
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+      <mass value="0.0887"/>
+      <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="814.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.76 0.59 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="814_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/814/814_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814_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/814/814_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/814/814_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a8701f6b8005e4583bcb67f4de6fd42a48cb1d
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c83ad6a72126ea099b41024332ca6efccb13014
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.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/815/815.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce9916d5eb32ece451578dd0bd1aa76fa45bef1
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..688e18fe030e7bc6ce32d2aa5e2b14cc34c387d4
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob815">
+  <link name="random_obj_815">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1281"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="815.obj" scale="0.0070 0.0070 0.0070"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.41 0.34 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="815_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/815/815_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 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/815/815_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/815/815_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655bb89c40b598284e49adee29f21f473df8aea3
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e83f53fcad54b97faa74a6878ddafff6fd6f9b01
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.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 816.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5500db571df83a2326d9c76ebc81e7614b2f8dc9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.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/816/816.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..637df30c9f63a87874ccf6bec9947b0eaf02bf95
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob816">
+  <link name="random_obj_816">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0964"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="816.obj" scale="0.0086 0.0086 0.0086"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.73 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="816_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/816/816_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/816/816_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a6bb9cad7be96ced4e2ca10d6895a126e5750f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/816/816_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f3625ada396e925f105d5da92679c348e9a5016
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.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/817/817.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf105d97529cfd3e43b0a499b35d5e41169ed77a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e4c51f501763392ffc78dd3e01b35a5b401b0cc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob817">
+  <link name="random_obj_817">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0857"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="817.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.47 0.74 0.64 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="817_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/817/817_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817_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/817/817_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/817/817_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779ee3d1ab36973c3f5e3ccb3af624f346f873c3
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..287b38d0d7bf7558c391acdfc93ea97ffea7d577
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 818_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 818.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad236d6cade47c4b9b4be9bf1d25a326235300b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.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/818/818.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d316bd4dfc013b1f8627d65a64ee2211d0fdd80
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob818">
+  <link name="random_obj_818">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1229"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="818.obj" scale="0.0065 0.0065 0.0065"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.61 0.11 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="818_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/818/818_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/818/818_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd18c608920a1bdeec44e8ece003a2c79fd64ec7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/818/818_coll.obj
@@ -0,0 +1,786 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c939277d2ab80d13fc668ab3fdcf621860edd715
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.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/819/819.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37cb25aeff225b3b5682c2b387cd69ad46cfe41f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.png
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a6edef71dd1ff11437df6bcd1086e56ddbf6de2b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob819">
+  <link name="random_obj_819">
+    <contact>
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+      <rolling_friction value="0.0"/>
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+      </geometry>
+      <material name="blockmat">
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+      </material>
+    </visual>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819_coll.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/819/819_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb845eb468892c34d8cc77d5ce891f59d2b1411
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2e1ce80c9d0151840ec8682918e62ec1e16856a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c879a86aa5e2da847eeb064d9392dff2bf4deb85
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d92161ca45e062bb8f4c3b1d2d410089da5e21bc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob820">
+  <link name="random_obj_820">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1540"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="820.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.67 0.66 0.74 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="820_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/820/820_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/820/820_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d3e29a197329f6cb2ec90be538bcfe2c40d292
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/820/820_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..392f3bc412a80e6a61178e1a6e891f680df41ff0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821.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/821/821.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550ca16f88d180f2eef558e8ad79a3df9a15fc6e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821.obj
@@ -0,0 +1,1656 @@
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+  <link name="random_obj_821">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1595"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="821.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.77 0.97 0.63 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="821_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/821/821_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/821/821_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687db9ae75f99ce2c5eb44e695bc103c18c98834
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/821/821_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3208ace3d791ea2bc2d718c55d7e7e1dc7a86709
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e790139187cc73d4c84a0e0b266bee2aa2ed0f
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c114ed2bdadc41852909e6de63d3ca95137b5830
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob822">
+  <link name="random_obj_822">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0453"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="822.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.46 0.44 0.90 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="822_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/822/822_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/822/822_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9669b6877d861a9ce93a996690d0dd08f5bae70
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/822/822_coll.obj
@@ -0,0 +1,1284 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5cc8b6735a91dd81b79e2857a4a913abb29499d
--- /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/823/823.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee082db6f32babd42ba3f5844740b6a1f7b98c0
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc62b27a895fe695c79635f2708a5d81d8813a54
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob823">
+  <link name="random_obj_823">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="823.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.98 0.29 0.50 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="823_coll.obj" scale="0.0093 0.0093 0.0093"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/823/823_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedbf0b51f9c9d829a690ef5fe85b0795a62b005
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/823/823_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a435ebb8bb8795cbb34846aa86b457ea7bdd3b8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 824_mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.obj
new file mode 100644
index 0000000000000000000000000000000000000000..143e5cc0417c05726e8724d2be2488143b7c2f61
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.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/824/824.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9e63be89df422f364f566ebdd51f1f71acab624
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob824">
+  <link name="random_obj_824">
+    <contact>
+      <lateral_friction value="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="0.1007"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="824.obj" scale="0.0069 0.0069 0.0069"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.92 0.19 0.76 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="824_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/824/824_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824_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/824/824_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a575d2311eb08e60e13033f0ea02f4349de49f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/824/824_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd3a54680b633f81fa036690746f12e1c8159502
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee362c4d1ed7b57d258e9e980b16e8d99e18fe4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb890c5ab3c0cbd3e4818e7a6811c2ebde268c52
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob825">
+  <link name="random_obj_825">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="825.obj" scale="0.0059 0.0059 0.0059"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.65 0.44 0.16 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="825_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/825/825_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/825/825_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed79d79703f5c236f5648f071fa3ddaffbb4f35
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/825/825_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3491df8e162f9e3edd81bf1dbe9c89a7e8c9bc28
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa69e4326c6cdeea8090ae8e6b5e6c362052952e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1e4801d7ee77cadc99cd0ad1501af6a922e86fe
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob826">
+  <link name="random_obj_826">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1688"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="826.obj" scale="0.0089 0.0089 0.0089"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.82 0.65 0.52 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="826_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/826/826_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/826/826_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bd232026b0174eee9e59709afdd218db637c84
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/826/826_coll.obj
@@ -0,0 +1,465 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.mtl
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index 0000000000000000000000000000000000000000..b87c3194baa3b6bae834000c0e9de2e68afe9378
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770425172ef60223c167227cdd3a2db51251758d
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f62cbc8670ad897e7d0366f10258faecf337eb35
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob827">
+  <link name="random_obj_827">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0885"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="827.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.42 0.53 0.68 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="827_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/827/827_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/827/827_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfd8610de240964dca13b687da8b41e367cfb36
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/827/827_coll.obj
@@ -0,0 +1,1143 @@
+o convex_0
+v -2.396811 -2.928466 -3.598230
+v -3.848341 -5.176465 -8.046088
+v -3.848341 -4.895334 -8.093002
+v -0.430320 -1.290280 -2.802275
+v -1.413733 0.161356 -2.802275
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76c874c25113c7574a73310ad3b44658a67423f0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
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+illum 2
+map_Kd 828.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d647b2db989f7a13967d94fa998649ba5e491e1c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..31c26da87081ab75f8846044d8a3d26c0e9794eb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob828">
+  <link name="random_obj_828">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0979"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="828.obj" scale="0.0072 0.0072 0.0072"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.49 0.41 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="828_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/828/828_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/828/828_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b762a4926e5e144da6e6b4b7e43b1db172bcd9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/828/828_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2efdded07f0f7d3cf9a2a38ecd64d24888e92a67
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.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/829/829.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649d90a351705b9da5f582527463619d9a9ef7b8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4e60ff8110e4685d3cdb9a6afaff7cb5cf715c3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob829">
+  <link name="random_obj_829">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0878"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="829.obj" scale="0.0073 0.0073 0.0073"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.75 0.96 0.91 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="829_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/829/829_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/829/829_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4107408aa5b77f4f1466fe08eba7ab1b067862
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/829/829_coll.obj
@@ -0,0 +1,462 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d65025847f717b3edf2bd0da0aae3f4f2f00388d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 830_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.062410 0.672038 0.696021
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 830.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea22294c7a7c30aceacf97b1d697eef80bae6592
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.obj
@@ -0,0 +1,320 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 830.mtl
+o 830_Cube.3345
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3f8f6ca40e79dca0322b6803e9fc87f3109cc068
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob830">
+  <link name="random_obj_830">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0705"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="830.obj" scale="0.0102 0.0102 0.0102"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.96 0.45 0.33 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="830_coll.obj" scale="0.0102 0.0102 0.0102"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/830/830_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f76f8a87318bbb6dc4a55b86ffc359b181f19e7
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/830/830_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..896cfcefdbc6f7fdb54f362b74e751ba4488a052
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.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/831/831.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0a4a29f08172dac7e9dbb6b2f7f758018fce55
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b72561bc0fa1d6e4480d25c3d1dab2c0656a7734
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob831">
+  <link name="random_obj_831">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0726"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="831.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.81 0.58 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="831_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/831/831_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/831/831_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b09e4ac011d77d07d5951e1b53e9d24679fe17
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/831/831_coll.obj
@@ -0,0 +1,1692 @@
+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5b9ecbaf879c3eb675fbbbeb4eedc08292d4878
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cddca4020f9f5d42241df962aa4c063b82adf61
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..812a9c7749fa3b109e39da774304ed1afbc4967f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob832">
+  <link name="random_obj_832">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="832.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.28 0.25 0.93 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="832_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/832/832_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/832/832_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/832/832_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2767af6b579b9abc4b80a24396bce327d2eae0e
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7134c061029039cb397e45313ca24ecf56005d91
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.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 833.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9733086bbbf520ea5f10eecff932d5cf4dff3efc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.obj
@@ -0,0 +1,5667 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6af78208147b011ed888f6cb8a2b936555f42b84
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob833">
+  <link name="random_obj_833">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1039"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="833.obj" scale="0.0087 0.0087 0.0087"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.92 0.15 0.98 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="833_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/833/833_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/833/833_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0983f676c4b03d671555190fbcb99ecf0aac3ee
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/833/833_coll.obj
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+o convex_0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b1cb80a8f39cbcdf11bd6fcd0d320af86aa68d5
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 834_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 834.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0cff5e0471bde71e699e118c5a993d7aed62d3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.obj
@@ -0,0 +1,481 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.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/834/834.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc16033417006e7fd56ba77a18817787b3b48ec6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob834">
+  <link name="random_obj_834">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1512"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="834.obj" scale="0.0068 0.0068 0.0068"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.33 0.59 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="834_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/834/834_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834_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/834/834_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2bcab3c765f961e4b4f60f0eb4abfd1143837fd
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/834/834_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..223d05ecfbc0fabf11564402bac5c26d535732d0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+illum 2
+map_Kd 835.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835.obj
new file mode 100644
index 0000000000000000000000000000000000000000..891fc585bd07f666c3a5be9756bf3811e5a25f58
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835.obj
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+        <color rgba="0.58 0.40 0.08 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="835_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/835/835_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/835/835_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efecc7808166da3336355d476a0635e54a6dcd0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/835/835_coll.obj
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index 0000000000000000000000000000000000000000..f68fb5f30dd2e007c898d7c4a1c8058991754fca
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da05fe6abcf4a1234eb287b925e88c2074b4ab5f
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5e27fc39a1ff6a345210ac816a2424e75b42023a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob836">
+  <link name="random_obj_836">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0469"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="836.obj" scale="0.0075 0.0075 0.0075"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.61 0.23 0.21 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="836_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/836/836_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836_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
+d 1
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427dc02b864319688309ef39b4644d05f80a804a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/836/836_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..25ab359b3c2fdb6794a9e76327ad6f23fc5e6812
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.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/837/837.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b8f13d1cffa77c1f288fc20e4c94befd63e94b
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a7227d89c9205655f58dadaeb5db1b43efa8736b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837.urdf
@@ -0,0 +1,32 @@
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+        <mesh filename="837_coll.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/837/837_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a240126078b67d825613d888d7d8c849e87c8d3e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/837/837_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..893b16858567b67e6d8c26b30077ee00442d819f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 838.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e3d9ad1d311fd101982c9c6891551fe70b58e8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab7d7c46eb48b1d23654bc57d6138b8a9be1902a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob838">
+  <link name="random_obj_838">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0447"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="838.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.22 0.89 0.62 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="838_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/838/838_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/838/838_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0a4470327be05309d7b4caad9856adadfab7d3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/838/838_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c290f0f229e6a4dec2ee901ac780d103f1d356b2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec2769383db188385ecb5d71e4cf52458c07df9
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c162456038855e555d73fe71029784e37c64b68
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob839">
+  <link name="random_obj_839">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1391"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="839.obj" scale="0.0080 0.0080 0.0080"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.09 0.19 0.39 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="839_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/839/839_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839_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/839/839_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/839/839_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6968f760aef6860007c89a41096f8c8c35b1303
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c09a817a61c15f99cb10ca73e0a78681582393d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 840_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.060395 0.438394 0.378126
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 840.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238c4d957decb84e416d605bd55698ef1d949b12
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.obj
@@ -0,0 +1,171 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
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+o 840_Cube.3391
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..40ae6227c5985b7d474f2ac8269be20fd520ed76
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob840">
+  <link name="random_obj_840">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="840.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.72 0.56 0.37 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="840_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/840/840_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/840/840_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e56e9592d307332ff250a6ed9623af9ca203ad0
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29fc609d3d398b8a5ce93d221689f5f6f973e5ed
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2fcc0d96b83ce53ba62905aaabf64ee4af10b3a
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c229c1c225f71fa9937e170eb4b4dfc4da79c3b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob841">
+  <link name="random_obj_841">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="841.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.00 0.22 0.49 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="841_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/841/841_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/841/841_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a154fce305b2e773ad7629052572c4fc22142669
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/841/841_coll.obj
@@ -0,0 +1,525 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4335df1d0b7e1a766e64209705f8cb84b678d90e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 842_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.226358 0.246444 0.480540
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 842.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93e765676339574c645723010e88e33b8a951be
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.obj
@@ -0,0 +1,7281 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 842.mtl
+o 842_Cube.3399
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b76779902769a623cc7a5cd6a9570150248ca90
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob842">
+  <link name="random_obj_842">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1260"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="842.obj" scale="0.0067 0.0067 0.0067"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.30 0.02 0.32 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="842_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/842/842_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/842/842_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/842/842_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8217dd494855e62d7ec1623c38704651da45d7e4
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90cb4d04be306af306165e31fc26df6f42fafc1b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 843_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.416278 0.270862 0.757719
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 843.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96096bdf0d4e25bd62e5970df5e5e809c7bc3596
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.obj
@@ -0,0 +1,5877 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 843.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d063c3c1034f83b01bb5324c3d20c4812df33ab6
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob843">
+  <link name="random_obj_843">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1316"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="843.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.85 0.99 0.77 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="843_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/843/843_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/843/843_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1220ebf6147cbaa103aef840caac1e28b8efa06f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/843/843_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd9c8b94ac300a30155d859daade750aa78508be
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f4ac245ca276e87527e65efe65df88023d7e140
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.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/844/844.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..849544fd9413e7247c1999c6f13f24063c9643e9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob844">
+  <link name="random_obj_844">
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d4600d5cf72c7569109f79291dac216923b4bc3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/844/844_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bbab1e499a19bbf2f0dabe8254def7ac355ee9b
--- /dev/null
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+illum 2
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2458b830d2431d69130fe7aea9b525eda87554e8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..689e391a531c436d970e7c7b0a3cffd01d2cc72e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob845">
+  <link name="random_obj_845">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1572"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="845.obj" scale="0.0085 0.0085 0.0085"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.29 0.40 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="845_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/845/845_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/845/845_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d0119ce349f66a0fe5aab4cc5acea55c313b25
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/845/845_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a2e020418a1407e2850e4dc2a54b47c92b58572
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 846.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86dd139954f114fe1880bd4fabecca2e8ecc23ee
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38fe39103b08e37eb1e2376473d866a01f4335ff
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob846">
+  <link name="random_obj_846">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1338"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="846.obj" scale="0.0076 0.0076 0.0076"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.71 0.70 0.23 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="846_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/846/846_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/846/846_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..359543359c3caf922588e0b44bf0a3cd48d0b5d0
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/846/846_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3747c145de0e953ee3dff10eb57e142a9566a774
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.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 847.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4431e0b47a5018381869d3458dfafdbc375f9344
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f7beb955fffe9a5bf46ee73d2ae727efaabcf565
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob847">
+  <link name="random_obj_847">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0582"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="847.obj" scale="0.0082 0.0082 0.0082"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.22 0.55 0.36 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="847_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/847/847_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/847/847_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5127eabd58e92bbbcd4b99c1d4a584ac3f734b08
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/847/847_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52e73547c19165e4d9bea6c1cddbea22c18d5737
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob848">
+  <link name="random_obj_848">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1327"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="848.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.87 0.38 0.43 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="848_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/848/848_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/848/848_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/848/848_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40eea0cbac533d54beebefabbb141bb277eb20f2
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef3af987ba0855efb5f79377a9c03d9e04f63d19
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1889986f76e0e1a4f3aef833df2338ff881a3555
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..00db7ef95185e78a152fb0580ba0aacc4e482521
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob849">
+  <link name="random_obj_849">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1110"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="849.obj" scale="0.0079 0.0079 0.0079"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.41 0.75 0.42 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="849_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/849/849_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849_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/849/849_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5b5454a86a8176124a02ae89e7dea084b5620d3
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/849/849_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4dbab64c04ec2a32d423ada5e65f1526396b9eb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 850_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.299345 0.258379 0.049326
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 850.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb448c63877141154af21a709c0cac564e2b4b6f
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.obj
@@ -0,0 +1,490 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 850.mtl
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afd23c24040a90fea4796e0b6c4fa1921119d22d
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob850">
+  <link name="random_obj_850">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="850.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.73 0.68 0.71 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="850_coll.obj" scale="0.0098 0.0098 0.0098"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/850/850_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087e769e7621e4c4a78eff5d21acaeb4a074f7cb
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/850/850_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..697887da5ecd3c52cc868913ca980ecd3d1daff9
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 851.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7e5ac33d1b5f8f0bdeabe5714e0fb75c34da47
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ebd1ebf2d0d940ef8858cb6c93898cdee542d31
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob851">
+  <link name="random_obj_851">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0748"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="851.obj" scale="0.0088 0.0088 0.0088"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.17 0.84 0.99 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="851_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/851/851_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/851/851_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf0064802cbb411d44dfc7b5c5f9e529c617bb63
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/851/851_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..295beb295ee211f818c7ab3294fd9b64a9190eee
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.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 852.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08652b64e1b14297656175353c8be90ddd9be3b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b59a496e1030eff380a30c289284571bae2eae8
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob852">
+  <link name="random_obj_852">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1036"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="852.obj" scale="0.0064 0.0064 0.0064"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.45 0.19 0.20 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="852_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/852/852_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/852/852_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/852/852_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4136acafaf26bd70e1164423b25ad905f75916b8
--- /dev/null
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..02e21e980c46b09648f3fe65b80a74ec6a38f97c
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl 853_mtl
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+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 853.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c593ae32eb2eee0f36096660276e16ddd53fb332
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.obj
@@ -0,0 +1,505 @@
+# Blender v2.69 (sub 0) OBJ File: ''
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f539c18bb56e54730f878bd061d41f6084b09544
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob853">
+  <link name="random_obj_853">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0934"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="853.obj" scale="0.0090 0.0090 0.0090"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.43 0.46 0.76 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="853_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/853/853_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853_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/853/853_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2ebf37c3bfc2c30cf9adb66d334bb70f7ed44e
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/853/853_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2dd1c28b0bd8cfb5612f53976d485d5948e1cb07
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.mtl
@@ -0,0 +1,12 @@
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8834f4423d803d3313799db8ae8afe59ea7140ca
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f83fc031ce8137d44a2316b4e238a4fd0ce6459b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob854">
+  <link name="random_obj_854">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.1150"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="854.obj" scale="0.0077 0.0077 0.0077"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.20 0.02 0.87 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="854_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/854/854_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/854/854_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e799d6c48e81254396002020b8bd196ba3ec07
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/854/854_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7caec67f5a465c359f77b9a61167007dc0b99e91
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 855_mtl
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+Ka 0.000000 0.000000 0.000000
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+Ni 1.000000
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+illum 2
+map_Kd 855.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc16db43ffaad68988f9eae1158eb3292594cd91
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.obj
@@ -0,0 +1,5854 @@
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+# www.blender.org
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..24225461f5521ae7adc95d74d4ba9e971d62ad01
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob855">
+  <link name="random_obj_855">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.0923"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="855.obj" scale="0.0092 0.0092 0.0092"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.39 0.80 0.65 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="855_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/855/855_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/855/855_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28973221d01bc82216e74848e1fb2e3fc110950b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/855/855_coll.obj
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b226305dd1f70295e2273257545252dbfa71d1dc
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl 856_mtl
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.066149 0.211136 0.024363
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd 856.png
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f4af69af657c5ceea3686096754f14612c1172
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.obj
@@ -0,0 +1,161 @@
+# Blender v2.69 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 856.mtl
+o 856_Cube.3460
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diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.png b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.png
new file mode 100644
index 0000000000000000000000000000000000000000..d39b2674ed1de1bab58bc5f584a026d19138edaa
Binary files /dev/null and b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.png differ
diff --git a/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.urdf b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6dd5ecfc3b1a03d5a697c76d59afa8d624276a23
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856.urdf
@@ -0,0 +1,32 @@
+
+<robot name="blob856">
+  <link name="random_obj_856">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <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="856.obj" scale="0.0081 0.0081 0.0081"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.21 0.11 1.00 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="856_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/856/856_coll.mtl b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856_coll.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856_coll.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 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/856/856_coll.obj b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856_coll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee2ad4068d63a441b10101a88f6592b8a727789
--- /dev/null
+++ b/third_party/AnyBimanual/third_party/RLBench/rlbench/assets/procedural_objects/856/856_coll.obj
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+o convex_0
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+o convex_2
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+o convex_3
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+o convex_4
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+o convex_5
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