diff --git a/external/rlbench/tests/__init__.py b/external/rlbench/tests/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/external/rlbench/tests/unit/__init__.py b/external/rlbench/tests/unit/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/36.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/36.png
new file mode 100644
index 0000000000000000000000000000000000000000..180f183c618513af2d8d0e90fb8c266f369f2719
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/36.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/41.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/41.png
new file mode 100644
index 0000000000000000000000000000000000000000..68259bac29bf9a2c8dc2287510702bf6ccc5833e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/41.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/43.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/43.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aae09ebbd735cc119776a1e1d5f7e6d5ca2c8b2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/43.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/44.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/44.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa86966b84ff9b6cd7dca66335f7c279c4809f58
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/44.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/45.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/45.png
new file mode 100644
index 0000000000000000000000000000000000000000..9acee143830c01705b23669318949aa251a67334
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/45.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/46.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/46.png
new file mode 100644
index 0000000000000000000000000000000000000000..db5ae50bc06fc7b740a2c1df0efa7f9b3826af0a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/46.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/47.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/47.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f54240fdd6f2311d5e2c5110fba27ef82293f06
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/47.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/48.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/48.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc14eea9477f4f31afba355f002e4a101b1f586c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/48.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/49.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/49.png
new file mode 100644
index 0000000000000000000000000000000000000000..f29be5942e0c6091c2bf0f64518206a02a0815f1
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/49.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/5.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d9962e630201c414195c5937e4be806ede5c5fd
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/5.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/50.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/50.png
new file mode 100644
index 0000000000000000000000000000000000000000..695609103e6fbe56011f9a8e634a91b8a0bfe8b1
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/50.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/51.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/51.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7ada3463e9173cbafc72f377acd1582503de982
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/51.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/52.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/52.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0eee40ec8b6ea4a8f26a36f53b0e1a044cdc58a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/52.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/53.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/53.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fea9adb4b5afeae1d532289d2ae40146b958681
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/53.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/54.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/54.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f912e0b75292e33d913a6588dcea58d3c50ce40
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/54.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/55.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/55.png
new file mode 100644
index 0000000000000000000000000000000000000000..b11d2ef9f09fd850ec2e38c1c14005c73565f3e0
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/55.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/56.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/56.png
new file mode 100644
index 0000000000000000000000000000000000000000..c341347fbf0d74b98df98fb42a569eaaf3035c90
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/56.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/57.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/57.png
new file mode 100644
index 0000000000000000000000000000000000000000..2112c8e8f3368058135f8740eb2ce13538382fa9
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/57.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/58.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/58.png
new file mode 100644
index 0000000000000000000000000000000000000000..c87ce619a35080b901b39a32be1696a2531faf56
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/58.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/59.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/59.png
new file mode 100644
index 0000000000000000000000000000000000000000..16fc6f8f935f943194005336a7bd87116431f805
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/59.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/6.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..f32e867d50e680cd7d2781d245493eb77fdada8c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/6.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/7.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c519077e8300de95871a484659efd39d0518e09
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/7.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/8.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..c82bb086e727e5a8bd9f2107bf4ffbcc6825d890
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/8.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/9.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..53d5dcaee354613e9ffb290bca73518dd0e93328
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_mask/9.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/0.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..00f27f6f2c4f5bb0d07222dca2613e814df84ba7
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/0.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/1.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdb85c28bdfb03f3174e4d385bfb377ad6d562e6
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/1.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/10.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..105ad543ecfd058d10528a3e9d52559059c18866
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/10.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/11.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/11.png
new file mode 100644
index 0000000000000000000000000000000000000000..401e1867acf4927e021f43281c1ee5154e9c4423
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/11.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/12.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..40e7a9fb91b12fd9a3e28db50c34ffb916f70c98
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/12.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/13.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/13.png
new file mode 100644
index 0000000000000000000000000000000000000000..39379cb53b8f6e54a0bca3c6bda902e1337f08ab
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/13.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/14.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/14.png
new file mode 100644
index 0000000000000000000000000000000000000000..9171ebe6f8d7a370ae4bea2bed5f8d8c1adea3e3
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/14.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/15.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/15.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee56653f8a0939cd2bb701c60cecc178f62552e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/15.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/16.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/16.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3488c1b80169ef03a3256275b050b9e0efaaf7c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/16.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/17.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/17.png
new file mode 100644
index 0000000000000000000000000000000000000000..a08ee4286581638cdc1a1c83939d04455c19af32
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/17.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/18.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/18.png
new file mode 100644
index 0000000000000000000000000000000000000000..62a67222639c75a50d9746bd34d6e19e9045e451
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/18.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/19.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/19.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c45fba09037e54f75236584aa88c47d3634cf19
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/19.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/2.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..66d8c2407ad21f2cdd2966bffd8f1a4b65665d31
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/2.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/20.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/20.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b2d7363e641ae31bfe9955a9f3f1127dcbddf34
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/20.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/21.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/21.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5591bba370d5f24c9d2a8558754d2f34c510d81
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/21.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/22.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/22.png
new file mode 100644
index 0000000000000000000000000000000000000000..aac02e0be2a766d558a401f711b7d3d9cf1a8d95
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/22.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/23.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/23.png
new file mode 100644
index 0000000000000000000000000000000000000000..828e3f7bd004d8ea26b5926dac099d6d7eab9657
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/23.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/24.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/24.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e71d7fca01ac28b69a56b95ded2f59470d07349
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/24.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/25.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/25.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d76f5d0c21701900a596a463eb4e4bf41d6b55
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/25.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/26.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/26.png
new file mode 100644
index 0000000000000000000000000000000000000000..a872f65b44b3f0a7a9b8c736cf05c09ada35e79c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/26.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/27.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/27.png
new file mode 100644
index 0000000000000000000000000000000000000000..60debc8394f4d4a8be3bd3a2f794cfda12ca4a34
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/27.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/28.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/28.png
new file mode 100644
index 0000000000000000000000000000000000000000..666caa212628a026398af88f389c765dd10d72c3
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/28.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/29.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/29.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc5345431cf622494f1afcabf8577faf6505b3a2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/29.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/3.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..0391fdd34d7402fcb022e3fa4e572fab53e592c7
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/3.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/30.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/30.png
new file mode 100644
index 0000000000000000000000000000000000000000..11fcc391b20ca71f1abdc227297e72fdd4259594
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/30.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/31.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/31.png
new file mode 100644
index 0000000000000000000000000000000000000000..791b59bc3a0ae375d191f6d03c460b1e9e6c5c43
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/31.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/32.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/32.png
new file mode 100644
index 0000000000000000000000000000000000000000..49db379dca3283eb61c08a6d7af7d4ec28167303
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/32.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/33.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/33.png
new file mode 100644
index 0000000000000000000000000000000000000000..118ef65997ae35fe58478dc90e6ac06f739f9fe3
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/33.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/34.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/34.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f3e5c3d0c40c98ad05a8cd81c8ac8454b884a18
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/34.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/35.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/35.png
new file mode 100644
index 0000000000000000000000000000000000000000..9afb18cb3c0b87dfd05ff172577adcfce7efe870
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/35.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/36.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/36.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1f41cfbf9a7793d423d366497ec30aaee1329ec
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/36.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/37.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/37.png
new file mode 100644
index 0000000000000000000000000000000000000000..79c735f4bfd3ddba229978d042266dc327340874
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/37.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/38.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/38.png
new file mode 100644
index 0000000000000000000000000000000000000000..122963e61e4b6ada6b59c52514208f11a3a9d950
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/38.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/39.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/39.png
new file mode 100644
index 0000000000000000000000000000000000000000..72e043faa92d4c5355f6a6861e90fa6cc9e713de
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/39.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/4.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0aea2aa2a7cddcf740e605216d088e8866ee2a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/4.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/40.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/40.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3985f6a0b270d7122cbba9b4727e57cb6fe481f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/40.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/41.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/41.png
new file mode 100644
index 0000000000000000000000000000000000000000..f10082536f6d3e5cb9ca17dffa560d7b2547271c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/41.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/42.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/42.png
new file mode 100644
index 0000000000000000000000000000000000000000..235da66f2fa3097b8a7191b972c280b560be7a99
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/42.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/43.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/43.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ea1b5060e4c87949c574ec5a5a317a4812eba05
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/43.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/44.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/44.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff54ca54bb4f25c19e8f5e9b7375524e6b3225da
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/44.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/45.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/45.png
new file mode 100644
index 0000000000000000000000000000000000000000..880c07d6627c5042c78e632b6e6618810295d57f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/45.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/46.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/46.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b44ca12e21898c0d70bb36b31bcc014039b7bb3
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/46.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/47.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/47.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bdae9fd52e3d5bc5e1079cca529e0e9bd263358
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/47.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/48.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/48.png
new file mode 100644
index 0000000000000000000000000000000000000000..817de1724889166a1845571263ac4514be65e924
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/48.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/49.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/49.png
new file mode 100644
index 0000000000000000000000000000000000000000..4268026dfd8f7b0df764e0cffa746d3824a80cb9
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/49.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/5.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..22132fbfdd33f09f768e439fc38cb7550082b822
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/5.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/50.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/50.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e11811f922912f2afd1bb5086aa54c698d2c51f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/50.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/51.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/51.png
new file mode 100644
index 0000000000000000000000000000000000000000..b27f8ef4b46749dcf8656d125ffc604db1364656
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/51.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/52.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/52.png
new file mode 100644
index 0000000000000000000000000000000000000000..96041f035674951e026a7953ee1819c75860c6fd
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/52.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/53.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/53.png
new file mode 100644
index 0000000000000000000000000000000000000000..9545c6655cca5f1b3175b2d7f86f36cbbfaae37d
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/53.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/54.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/54.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd5832117570ccd543e50f0dfd76103ee2a9295d
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/54.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/55.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/55.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4ccdcf6a5df6c3a3673718ddb24c4c599fc56b2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/55.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/56.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/56.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d16cc3c0da85a39e3d9e21b38fe9f4107f0ac65
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/56.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/57.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/57.png
new file mode 100644
index 0000000000000000000000000000000000000000..3852f0072459d8f36cb338c40e106f689e6ff8c4
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/57.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/58.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/58.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0000964b8f1bfe00e2c02708f0b84c20c7df341
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/58.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/59.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/59.png
new file mode 100644
index 0000000000000000000000000000000000000000..60b7cd586b2f84a3377013115951a6430949c2f2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/59.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/6.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7b827f1c9a2d5e3bb87bd978d5ae841d78a1dc4
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/6.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/7.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..040d402ad4000b27ec88258696ddefd586207a61
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/7.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/8.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..6643e36f6cc350b54e75d48bc7907023c4b8ff42
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/8.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/9.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..208b3efd298d7f257a3f680dc5812d72cdb666ac
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/right_shoulder_rgb/9.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/0.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3235c0a627128c794de155b2098e461398f3265
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/0.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/1.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..55ecb73d0ce5c47330fea4b7cfee591e38646768
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/1.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/10.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..252dd316599222c1ce256100147afe1fea6d760f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/10.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/12.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d558394b05be8e7395ad77c90a8da53acc1ba0e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/12.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/13.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/13.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e848eada2f5dd1811cda0508119e175067b0f79
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/13.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/14.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/14.png
new file mode 100644
index 0000000000000000000000000000000000000000..36339735c1b793546f9ed793892e7c9cc438272e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/14.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/15.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/15.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e3094e5668e126305b0c71e4731d20e175ed4ce
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/15.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/16.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/16.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaf2aab8a91548f3e8a475ca477272076dc9ef83
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/16.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/17.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/17.png
new file mode 100644
index 0000000000000000000000000000000000000000..341d0f5be7da61df29ad0e62be5d1c866cfb0a2a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/17.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/18.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/18.png
new file mode 100644
index 0000000000000000000000000000000000000000..658f572ade8413018515b4bed1c8a9dbedabf940
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/18.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/19.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/19.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d5518c0dab4d52422ae643dfdcb785760e793fa
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/19.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/2.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ddf2ce011fa8cfc56589b32581a04c773388a60
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/2.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/20.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/20.png
new file mode 100644
index 0000000000000000000000000000000000000000..56541d60a22c36289618fb98829e7a22024819d2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/20.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/22.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/22.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4189ff51e043a5c81e498631d5a330378d6eebb
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/22.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/24.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/24.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c3b6f82b6b892a074f40f5e8117f38681c964e5
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/24.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/26.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/26.png
new file mode 100644
index 0000000000000000000000000000000000000000..be1368a9e0d1d8f0a21c4226d29689fa5c35abc4
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_depth/26.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/50.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/50.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1d9d1cfa0f78486e1b7b2b7285d626ac28c02a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/50.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/51.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/51.png
new file mode 100644
index 0000000000000000000000000000000000000000..71122ddbf0e4c2ca5320c0f7be610029298a6f05
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/51.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/52.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/52.png
new file mode 100644
index 0000000000000000000000000000000000000000..71b6410f31a3a26500d7e5a18a4528aa9504e5ed
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/52.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/53.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/53.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0a5df6eb5bcc97c9f745bd2660fa1f12201ea65
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/53.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/54.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/54.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee1225b3e0fb6fcc02b7f389a58051466ca305c2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/54.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/55.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/55.png
new file mode 100644
index 0000000000000000000000000000000000000000..f28d88ab3cd5824fa82164de802d98aa6dc06108
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/55.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/56.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/56.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d247b2c58c5d05d3db2b53a8ecf6c0b16de352e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/56.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/57.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/57.png
new file mode 100644
index 0000000000000000000000000000000000000000..21da2b222327c9a9a8614fef1773381fe1881761
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/57.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/58.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/58.png
new file mode 100644
index 0000000000000000000000000000000000000000..f19cfaac274185e26461a3ef20d12eccb16b0cec
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/58.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/59.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/59.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb32b4e9bddb9c3e252b05c5e1edd33605bd4f5
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/59.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/6.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..d01749d2d63cf3948273cb1d6404a079b7f1cb69
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/6.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/7.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc787c36c3a0a08e34749afae5df6d711014d0ff
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/7.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/8.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..df3f498c436dcf1ee466d3377d6d35b8add9bd62
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/8.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/9.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8893e239d5d7049cc2f8c7bd15f173bab4b042d
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_mask/9.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/0.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c377095ef8db2ce9ef4307b2e069e59f99bf0d83
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/0.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/1.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b301a1f9ee11a1cd3e06692e1b3b7e0f371d850
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/1.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/10.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..abc8182e62ab93c9687dabfede482e94f334a05a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/10.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/11.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/11.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d0abe42327980177ff1ec12855a22278da6eb4
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/11.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/12.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..22414d57c1dde6779a9bb0a6b6fcde5c8f648794
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/12.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/13.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/13.png
new file mode 100644
index 0000000000000000000000000000000000000000..17e1429a0ac66703b2a4f9fe1012c3ec92787d5e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/13.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/14.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/14.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8af0b4a19879a9093b594f457d9936890f8faf0
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/14.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/15.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/15.png
new file mode 100644
index 0000000000000000000000000000000000000000..f21e97845bcfb126fd5e48dfbdab104cfcd7db09
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/15.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/16.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/16.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bd4f2067f39bb428ba229e5e9d8bf69c5481e10
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/16.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/17.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/17.png
new file mode 100644
index 0000000000000000000000000000000000000000..052e66777094536af7b273711fda51f795f663ea
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/17.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/18.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/18.png
new file mode 100644
index 0000000000000000000000000000000000000000..7959af4aef30f114744bc6ef0c4c88d24f16d291
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/18.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/19.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/19.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d794a53a342ff2dff6ee6f79349ca8262daab91
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/19.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/2.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..21652c13343b7dfefdd4457c9c97907ee3fea06a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/2.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/20.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/20.png
new file mode 100644
index 0000000000000000000000000000000000000000..a104a6113e6b0fe3d6abe2ee7628368fc37cf595
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/20.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/21.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/21.png
new file mode 100644
index 0000000000000000000000000000000000000000..92376bb578123e7daabd00c69682a0b8fc739e13
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/21.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/22.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/22.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfdc1a2c01d56f9b6693d8c385768374f5de08ab
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/22.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/23.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/23.png
new file mode 100644
index 0000000000000000000000000000000000000000..de5ca9b1bfaa82ecdeac41ca7bd96bd2b0cba4dd
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/23.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/24.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/24.png
new file mode 100644
index 0000000000000000000000000000000000000000..289bfffed6c9f3b2f236f09eb0c4724591d16eee
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/24.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/25.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/25.png
new file mode 100644
index 0000000000000000000000000000000000000000..44afb99fede013f34554016d053a329bf9fe715c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/25.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/26.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/26.png
new file mode 100644
index 0000000000000000000000000000000000000000..e06c3180af7cda5af3c3a753839ad1e1ccb2003f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/26.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/27.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/27.png
new file mode 100644
index 0000000000000000000000000000000000000000..893218b78ee9fb394b609b21172e2c2cee2e29c8
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/27.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/28.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/28.png
new file mode 100644
index 0000000000000000000000000000000000000000..b04178678ad2ea18fbdea012830c6019e8eec638
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/28.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/29.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/29.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a2161a7a232b63efdd4c737624014399a5fb30c
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/29.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/3.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..44c21d36642cb7168294c33cf0fbcc69cad8cb7d
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/3.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/30.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/30.png
new file mode 100644
index 0000000000000000000000000000000000000000..615133d451ed97b2902da1c85caf36814ee62b89
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/30.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/31.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/31.png
new file mode 100644
index 0000000000000000000000000000000000000000..847e77a39f61b07383082f77797775a4c4258d9a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/31.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/32.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/32.png
new file mode 100644
index 0000000000000000000000000000000000000000..046519220fafc70b61f1307c2705ebc18a693182
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/32.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/33.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/33.png
new file mode 100644
index 0000000000000000000000000000000000000000..10c3d455a04d0a3c1f1e234e4331a2e22ddc6d72
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/33.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/34.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/34.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa278e040fe6c6e768e4663f73f7cfdae4685ba5
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/34.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/35.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/35.png
new file mode 100644
index 0000000000000000000000000000000000000000..50dba91fe25f82ee91a2346a343d0568b9dc04db
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/35.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/36.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/36.png
new file mode 100644
index 0000000000000000000000000000000000000000..1090e76035933568e160e62c551940d58a25481d
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/36.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/37.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/37.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b63487ddc32480196a3f3040e6eb3cf0612f5d3
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/37.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/38.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/38.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dfa8efb44dc0515e0eb9c77a216159845421fbb
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/38.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/39.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/39.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ee3a9371184cc7beb0fec9048c709cab4606df1
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/39.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/4.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d7ed5bb948d2d57ca9b91a65ea48ee3c51acf4a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/4.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/40.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/40.png
new file mode 100644
index 0000000000000000000000000000000000000000..71f610fb83d4f3a9f7ebb1359d10c76488dc59d4
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/40.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/41.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/41.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7cb9df5363686c4064b3eeb0fd6f9485758336f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/41.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/42.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/42.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7ac35223da44a5b2d87d29ff52c029b988178c9
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/42.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/43.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/43.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d283310b0e663eb110908a154ca6b05951d7841
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/43.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/44.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/44.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdcf799b27e58e6e07c96c7b76c75c0604e96f90
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/44.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/45.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/45.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa1c6521a75b53599427979a86da7e835848b4e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/45.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/46.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/46.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0f2b525f5b1b72d897c83bd8e701ab8ccde72a8
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/46.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/47.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/47.png
new file mode 100644
index 0000000000000000000000000000000000000000..79c6c6445229faad6119a65585a4243155888114
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/47.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/48.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/48.png
new file mode 100644
index 0000000000000000000000000000000000000000..325edaba8b4f186f383267d28bd667e153ba3d6f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/48.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/49.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/49.png
new file mode 100644
index 0000000000000000000000000000000000000000..73fcd50c54f8ed1c204e1fd44f482b42c11773ea
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/49.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/5.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..ade4711108d63d3b201c2e721af311579751bad8
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/5.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/50.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/50.png
new file mode 100644
index 0000000000000000000000000000000000000000..62c9c4de652abaa69129477b2821bcfb40c6c656
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/50.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/51.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/51.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6ea56ec40060183bb73c55f300a54a0de0c1660
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/51.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/52.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/52.png
new file mode 100644
index 0000000000000000000000000000000000000000..60b747d9e454681d2b7fb214cb8a415deb65bfa2
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/52.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/53.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/53.png
new file mode 100644
index 0000000000000000000000000000000000000000..875d8857796f81133484da2a0a34ca40b21ddb9e
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/53.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/54.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/54.png
new file mode 100644
index 0000000000000000000000000000000000000000..8221186113971221939bd7cf850f618b40cf6caf
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/54.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/55.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/55.png
new file mode 100644
index 0000000000000000000000000000000000000000..4747b28a77d0b8f98f9b7c53732bee2991584b93
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/55.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/56.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/56.png
new file mode 100644
index 0000000000000000000000000000000000000000..35c793342fe6f67a26f4eac9bd9ddf04952bea11
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/56.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/57.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/57.png
new file mode 100644
index 0000000000000000000000000000000000000000..f77dc75d95fb8152affe8d480058e897ed260c35
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/57.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/58.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/58.png
new file mode 100644
index 0000000000000000000000000000000000000000..034a2a47cf9ce2d362f51913fd09d300f0ba0d4d
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/58.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/59.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/59.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fe50e2a8f787beac71325ad7d014d5002a7b0b1
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/59.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/6.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ecb1970896d954e8cd13ebbfc9dfeadf0443e80
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/6.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/7.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f3adbf7f32527e301e31516e5db90ab09ecbec0
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/7.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/8.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..89141703b18ca401c9dda2202d508538e7e40822
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/8.png differ
diff --git a/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/9.png b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2dac0be3fc56376c7d533402f97ce1d63a8e18b
Binary files /dev/null and b/external/rlbench/tests/unit/assets/tasks/reach_target/variation0/episodes/episode3/wrist_rgb/9.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/0.png b/external/rlbench/tests/unit/assets/textures/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bed181b10989d10f7b2e224675bdd3962fad2be0
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/0.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/1.png b/external/rlbench/tests/unit/assets/textures/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..28358c8fca5e6a776ae87e300c6b2539ec24a0bf
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/1.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/10.png b/external/rlbench/tests/unit/assets/textures/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..87b8bf155f3b05ba551e5836489e0f6a941a4bd3
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/10.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/2.png b/external/rlbench/tests/unit/assets/textures/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9245b6c862de72dc2fdccf4360afa38cbb6c7e9a
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/2.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/3.png b/external/rlbench/tests/unit/assets/textures/3.png
new file mode 100644
index 0000000000000000000000000000000000000000..28f3d69f547cadfd970e2a10bebcf10e1770bdd6
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/3.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/5.png b/external/rlbench/tests/unit/assets/textures/5.png
new file mode 100644
index 0000000000000000000000000000000000000000..895ece0535c998e09611a873176b024724d42e2f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/5.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/6.png b/external/rlbench/tests/unit/assets/textures/6.png
new file mode 100644
index 0000000000000000000000000000000000000000..365a55c023d8314620aa1d01ef68e8f46b6d736f
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/6.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/7.png b/external/rlbench/tests/unit/assets/textures/7.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b5f2f185bf1c0a4bae94970cc9662f98dfd1434
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/7.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/8.png b/external/rlbench/tests/unit/assets/textures/8.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a72dca9e0ebba2396a133a9b7a4289bc0850690
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/8.png differ
diff --git a/external/rlbench/tests/unit/assets/textures/9.png b/external/rlbench/tests/unit/assets/textures/9.png
new file mode 100644
index 0000000000000000000000000000000000000000..b78f9fb008ae986ee9d2a60776ff706036971547
Binary files /dev/null and b/external/rlbench/tests/unit/assets/textures/9.png differ
diff --git a/external/rlbench/tests/unit/test_domain_randomization_environment.py b/external/rlbench/tests/unit/test_domain_randomization_environment.py
new file mode 100644
index 0000000000000000000000000000000000000000..407b4078160146e3f293619d6ada98f6d8b1d0b6
--- /dev/null
+++ b/external/rlbench/tests/unit/test_domain_randomization_environment.py
@@ -0,0 +1,68 @@
+import unittest
+from os import path
+
+import numpy as np
+from pyrep.const import RenderMode
+
+from rlbench import Environment
+from rlbench.action_modes.action_mode import MoveArmThenGripper
+from rlbench.action_modes.arm_action_modes import JointVelocity
+from rlbench.action_modes.gripper_action_modes import Discrete
+from rlbench.observation_config import ObservationConfig, CameraConfig
+from rlbench.sim2real.domain_randomization import RandomizeEvery, \
+    VisualRandomizationConfig
+from rlbench.tasks.open_microwave import OpenMicrowave
+
+ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets', 'textures')
+
+
+class TestDomainRandomizaionEnvironment(unittest.TestCase):
+
+    def tearDown(self):
+        self.env.shutdown()
+
+    def get_task(self, randomize_every, frequency, visual_config=None,
+                 dynamics_config=None):
+        cam_config = CameraConfig(render_mode=RenderMode.OPENGL)
+        obs_config = ObservationConfig(right_shoulder_camera=cam_config)
+        obs_config.set_all(False)
+        obs_config.set_all_low_dim(True)
+        obs_config.right_shoulder_camera.rgb = True
+        mode = MoveArmThenGripper(JointVelocity(), Discrete())
+        self.env = Environment(
+            mode, ASSET_DIR, obs_config, True, True, 'panda',
+            randomize_every, frequency, visual_config, dynamics_config)
+        self.env.launch()
+        return self.env.get_task(OpenMicrowave)
+
+    def test_visual_randomize_every_2_episodes(self):
+        visual_config = VisualRandomizationConfig(ASSET_DIR)
+        task = self.get_task(RandomizeEvery.EPISODE, 2, visual_config)
+        _, obs1 = task.reset()
+        _, obs2 = task.reset()
+        _, obs3 = task.reset()
+        # obs1 and obs2 should be almost identical
+        self.assertLess(
+            np.mean(np.abs(obs1.right_shoulder_rgb - obs2.right_shoulder_rgb)),
+            5)
+        # obs2 and obs3 should be very different
+        self.assertGreater(
+            np.mean(np.abs(obs2.right_shoulder_rgb - obs3.right_shoulder_rgb)),
+            5)
+
+    def test_visual_randomize_every_2_transitions(self):
+        visual_config = VisualRandomizationConfig(ASSET_DIR)
+        task = self.get_task(RandomizeEvery.TRANSITION, 2, visual_config)
+        _, _ = task.reset()
+        a = ([0.0] * 7) + [1.0]
+        obs1, _, _ = task.step(a)
+        obs2, _, _ = task.step(a)
+        obs3, _, _ = task.step(a)
+        # obs1 and obs2 should be almost identical
+        self.assertLess(
+            np.mean(np.abs(obs1.right_shoulder_rgb - obs2.right_shoulder_rgb)),
+            5)
+        # obs2 and obs3 should be very different
+        self.assertGreater(
+            np.mean(np.abs(obs2.right_shoulder_rgb - obs3.right_shoulder_rgb)),
+            5)
diff --git a/external/rlbench/tests/unit/test_environment.py b/external/rlbench/tests/unit/test_environment.py
new file mode 100644
index 0000000000000000000000000000000000000000..eef574996484cf90382a90ffee75175958e36c0e
--- /dev/null
+++ b/external/rlbench/tests/unit/test_environment.py
@@ -0,0 +1,265 @@
+import unittest
+from os import path
+
+import numpy as np
+from pyrep.objects import Dummy
+
+from rlbench import environment
+from rlbench.action_modes.action_mode import MoveArmThenGripper
+from rlbench.action_modes.arm_action_modes import JointVelocity, JointPosition, \
+    EndEffectorPoseViaPlanning, JointTorque, EndEffectorPoseViaIK
+from rlbench.action_modes.gripper_action_modes import Discrete
+from rlbench.observation_config import ObservationConfig
+from rlbench.task_environment import TaskEnvironment
+from rlbench.tasks import TakeLidOffSaucepan, ReachTarget
+
+ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets', 'tasks')
+
+
+class TestEnvironment(unittest.TestCase):
+
+    def tearDown(self):
+        self.env.shutdown()
+
+    def get_task(self, task_class, arm_action_mode, obs_config=None):
+        if obs_config is None:
+            obs_config = ObservationConfig()
+            obs_config.set_all(False)
+            obs_config.set_all_low_dim(True)
+            obs_config.right_shoulder_camera.rgb = True
+            obs_config.left_shoulder_camera.point_cloud = True
+        mode = MoveArmThenGripper(arm_action_mode, Discrete())
+        self.env = environment.Environment(
+            mode, ASSET_DIR, obs_config, headless=True)
+        self.env.launch()
+        return self.env.get_task(task_class)
+
+    def test_get_task(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        self.assertIsInstance(task, TaskEnvironment)
+        self.assertEqual(task.get_name(), 'reach_target')
+
+    def test_reset(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        desc, obs = task.reset()
+        self.assertIsNotNone(obs.right_shoulder_rgb)
+        self.assertIsNone(obs.left_shoulder_rgb)
+        self.assertIsInstance(desc, list)
+
+    def test_get_all_camera_observations(self):
+        obs_config = ObservationConfig()
+        obs_config.left_shoulder_camera.rgb = True
+        obs_config.right_shoulder_camera.rgb = True
+        obs_config.overhead_camera.rgb = True
+        obs_config.front_camera.rgb = True
+        obs_config.wrist_camera.rgb = True
+        task = self.get_task(
+            ReachTarget, JointVelocity(), obs_config)
+        desc, obs = task.reset()
+        self.assertIsNotNone(obs.left_shoulder_rgb)
+        self.assertIsNotNone(obs.right_shoulder_rgb)
+        self.assertIsNotNone(obs.overhead_rgb)
+        self.assertIsNotNone(obs.front_rgb)
+        self.assertIsNotNone(obs.wrist_rgb)
+
+    def test_step(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        task.reset()
+        obs, reward, term = task.step(np.random.uniform(size=8))
+        self.assertIsNotNone(obs.right_shoulder_rgb)
+        self.assertIsNone(obs.left_shoulder_rgb)
+        self.assertEqual(reward, 0)
+        self.assertFalse(term)
+
+    def test_get_invalid_number_of_demos(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        with self.assertRaises(RuntimeError):
+            task.get_demos(10, live_demos=False, image_paths=True)
+
+    def test_get_stored_demos_paths(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        demos = task.get_demos(2, live_demos=False, image_paths=True)
+        self.assertEqual(len(demos), 2)
+        self.assertGreater(len(demos[0]), 0)
+        self.assertIsInstance(demos[0][0].right_shoulder_rgb, str)
+        self.assertIsNone(demos[0][0].left_shoulder_rgb)
+
+    def test_get_stored_demos_images(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        demos = task.get_demos(2, live_demos=False, image_paths=False)
+        self.assertEqual(len(demos), 2)
+        self.assertGreater(len(demos[0]), 0)
+        self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray)
+        self.assertIsNone(demos[0][0].left_shoulder_rgb)
+        self.assertIsInstance(demos[0][0].left_shoulder_point_cloud, np.ndarray)
+
+    def test_get_stored_demos_images_without_init_sim(self):
+        obs_config = ObservationConfig()
+        obs_config.set_all(False)
+        obs_config.set_all_low_dim(True)
+        obs_config.right_shoulder_camera.rgb = True
+        action_mode = MoveArmThenGripper(JointVelocity(), Discrete())
+        self.env = environment.Environment(
+            action_mode, ASSET_DIR, obs_config, headless=True)
+        demos = self.env.get_demos('reach_target', 2)
+        self.assertEqual(len(demos), 2)
+        self.assertGreater(len(demos[0]), 0)
+        self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray)
+        self.assertIsNone(demos[0][0].left_shoulder_rgb)
+
+    def test_get_live_demos(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        demos = task.get_demos(2, live_demos=True)
+        self.assertEqual(len(demos), 2)
+        self.assertGreater(len(demos[0]), 0)
+        self.assertIsInstance(demos[0][0].right_shoulder_rgb, np.ndarray)
+
+    def test_observation_shape_constant_across_demo(self):
+        task = self.get_task(
+            TakeLidOffSaucepan, JointVelocity())
+        demos = task.get_demos(1, live_demos=True)
+        self.assertEqual(len(demos), 1)
+        self.assertGreater(len(demos[0]), 0)
+        self.assertGreater(demos[0][0].task_low_dim_state.size, 0)
+        shapes = [step.task_low_dim_state.shape for step in demos[0]]
+        first_shape = shapes[0]
+        self.assertListEqual(shapes, [first_shape] * len(demos[0]))
+
+    def test_reset_to_demos(self):
+        task = self.get_task(
+            TakeLidOffSaucepan, JointVelocity())
+        demo = task.get_demos(1, live_demos=True)[0]
+        obs = demo[0]
+        task.reset_to_demo(demo)
+        reset_obs = task.get_observation()
+
+        # Now check that the state has been properly restored
+        np.testing.assert_allclose(
+            reset_obs.joint_positions, obs.joint_positions, atol=1e-1)
+        np.testing.assert_allclose(
+            reset_obs.gripper_open, obs.gripper_open, atol=1e-1)
+
+    def test_action_mode_abs_joint_velocity(self):
+        task = self.get_task(
+            ReachTarget, JointVelocity())
+        task.reset()
+        action = [0.1] * 7 + [1]
+        obs, reward, term = task.step(action)
+        [self.assertAlmostEqual(0.1, a, delta=0.05)
+         for a in obs.joint_velocities]
+
+    def test_action_mode_abs_joint_position(self):
+        task = self.get_task(
+            ReachTarget, JointPosition(True))
+        _, obs = task.reset()
+        init_angles = np.append(obs.joint_positions, 1.)  # for gripper
+        target_angles = np.array(init_angles) + 0.05
+        [task.step(target_angles) for _ in range(5)]
+        obs, reward, term = task.step(target_angles)
+        [self.assertAlmostEqual(a, actual, delta=0.05)
+         for a, actual in zip(target_angles, obs.joint_positions)]
+
+    def test_action_mode_delta_joint_position(self):
+        task = self.get_task(
+            ReachTarget, JointPosition(False))
+        _, obs = task.reset()
+        init_angles = obs.joint_positions
+        target_angles = np.array(init_angles) + 0.06
+        [task.step([0.01] * 7 + [1]) for _ in range(5)]
+        obs, reward, term = task.step([0.01] * 8)
+        [self.assertAlmostEqual(a, actual, delta=0.05)
+         for a, actual in zip(target_angles, obs.joint_positions)]
+
+    def test_action_mode_abs_ee_pose_ik_world_frame(self):
+        task = self.get_task(
+            ReachTarget, EndEffectorPoseViaIK(True, 'world'))
+        _, obs = task.reset()
+        init_pose = obs.gripper_pose
+        new_pose = np.append(init_pose, 1.0)  # for gripper
+        new_pose[2] -= 0.1  # 10cm down
+        obs, reward, term = task.step(new_pose)
+        [self.assertAlmostEqual(a, p, delta=0.01)
+         for a, p in zip(new_pose, obs.gripper_pose)]
+
+    def test_action_mode_delta_ee_pose_ik_world_frame(self):
+        task = self.get_task(
+            ReachTarget, EndEffectorPoseViaIK(False, 'world'))
+        _, obs = task.reset()
+        init_pose = obs.gripper_pose
+        new_pose = [0, 0, -0.1, 0, 0, 0, 1.0, 1.0]  # 10cm down
+        expected_pose = list(init_pose)
+        expected_pose[2] -= 0.1
+        obs, reward, term = task.step(new_pose)
+        [self.assertAlmostEqual(a, p, delta=0.01)
+         for a, p in zip(expected_pose, obs.gripper_pose)]
+
+    def test_action_mode_abs_ee_pose_plan_world_frame(self):
+        task = self.get_task(
+            ReachTarget, EndEffectorPoseViaPlanning(True, 'world'))
+        _, obs = task.reset()
+        init_pose = obs.gripper_pose
+        new_pose = np.append(init_pose, 1.0)  # for gripper
+        new_pose[2] -= 0.1  # 10cm down
+        obs, reward, term = task.step(new_pose)
+        [self.assertAlmostEqual(a, p, delta=0.001)
+         for a, p in zip(new_pose, obs.gripper_pose)]
+
+    def test_action_mode_delta_ee_pose_plan_world_frame(self):
+        task = self.get_task(
+            ReachTarget, EndEffectorPoseViaPlanning(False, 'world'))
+        _, obs = task.reset()
+        init_pose = obs.gripper_pose
+        new_pose = [0, 0, -0.1, 0, 0, 0, 1.0, 1.0]  # 10cm down
+        expected_pose = list(init_pose)
+        expected_pose[2] -= 0.1
+        obs, reward, term = task.step(new_pose)
+        [self.assertAlmostEqual(a, p, delta=0.001)
+         for a, p in zip(expected_pose, obs.gripper_pose)]
+
+    def test_action_mode_ee_pose_ik_ee_frame(self):
+        task = self.get_task(
+            ReachTarget, EndEffectorPoseViaIK(True, 'end effector'))
+        _, obs = task.reset()
+        dummy = Dummy.create()
+        dummy.set_position([0, 0, 0.05], relative_to=task._robot.arm.get_tip())
+        action = [0, 0, 0.05, 0, 0, 0, 1, 1]
+        obs, reward, term = task.step(action)
+        [self.assertAlmostEqual(a, p, delta=0.01)
+         for a, p in zip(dummy.get_position(), obs.gripper_pose[:3])]
+
+    def test_action_mode_ee_pose_plan_ee_frame(self):
+        task = self.get_task(
+            ReachTarget, EndEffectorPoseViaPlanning(True, 'end effector'))
+        _, obs = task.reset()
+        dummy = Dummy.create()
+        dummy.set_position([0, 0, 0.05], relative_to=task._robot.arm.get_tip())
+        action = [0, 0, 0.05, 0, 0, 0, 1, 1]
+        obs, reward, term = task.step(action)
+        [self.assertAlmostEqual(a, p, delta=0.01)
+         for a, p in zip(dummy.get_position(), obs.gripper_pose[:3])]
+
+    def test_action_mode_abs_joint_torque(self):
+        task = self.get_task(
+            ReachTarget, JointTorque())
+        task.reset()
+        action = [0.1, -0.1, 0.1, -0.1, 0.1, -0.1, 0.1, 1.0]
+        obs, reward, term = task.step(action)
+        # Difficult to test given gravity, so just check for exceptions.
+
+    def test_swap_arm(self):
+        # Checks if the environment can be setup with each arm
+        action_mode = MoveArmThenGripper(JointVelocity(), Discrete())
+        for robot_config in environment.SUPPORTED_ROBOTS.keys():
+            with self.subTest(robot_config=robot_config):
+                self.env = environment.Environment(
+                    action_mode, headless=True,
+                    robot_setup=robot_config)
+                self.env.launch()
+                self.env.shutdown()
diff --git a/external/rlbench/tests/unit/test_gym.py b/external/rlbench/tests/unit/test_gym.py
new file mode 100644
index 0000000000000000000000000000000000000000..e08fbda732bcde860f851308cde7c016ccdfe040
--- /dev/null
+++ b/external/rlbench/tests/unit/test_gym.py
@@ -0,0 +1,40 @@
+import unittest
+import numpy as np
+import gym
+import rlbench.gym
+
+
+class TestGym(unittest.TestCase):
+
+    def test_state_env(self):
+        env = gym.make('reach_target-state-v0')
+        env.reset()
+        obs, _, _, _ = env.step(env.action_space.sample())
+        self.assertEqual(env.observation_space.shape,
+                         obs.shape)
+        env.close()
+
+    def test_vision_env(self):
+        env = gym.make('reach_target-vision-v0')
+        env.reset()
+        obs, _, _, _ = env.step(env.action_space.sample())
+        self.assertEqual(env.observation_space['state'].shape,
+                         obs['state'].shape)
+        self.assertEqual(env.observation_space['left_shoulder_rgb'].shape,
+                         obs['left_shoulder_rgb'].shape)
+        self.assertEqual(env.observation_space['right_shoulder_rgb'].shape,
+                         obs['right_shoulder_rgb'].shape)
+        self.assertEqual(env.observation_space['wrist_rgb'].shape,
+                         obs['wrist_rgb'].shape)
+        self.assertEqual(env.observation_space['front_rgb'].shape,
+                         obs['front_rgb'].shape)
+        env.close()
+
+    def test_env_render(self):
+        env = gym.make('reach_target-vision-v0', render_mode='rgb_array')
+        env.reset()
+        obs, _, _, _ = env.step(env.action_space.sample())
+        img = env.render('rgb_array')
+        self.assertGreater(np.mean(img), 0)
+        env.close()
+
diff --git a/external/rlbench/tests/unit/test_scene.py b/external/rlbench/tests/unit/test_scene.py
new file mode 100644
index 0000000000000000000000000000000000000000..4ea126d0f8c07280e753babb5fbc05756f9d217d
--- /dev/null
+++ b/external/rlbench/tests/unit/test_scene.py
@@ -0,0 +1,66 @@
+import unittest
+from os import path
+from os.path import join
+from pyrep import PyRep
+from pyrep.robots.arms.panda import Panda
+from pyrep.robots.end_effectors.panda_gripper import PandaGripper
+from rlbench import environment
+from rlbench.backend.const import TTT_FILE
+from rlbench.backend.scene import Scene
+from rlbench.noise_model import GaussianNoise
+from rlbench.observation_config import ObservationConfig, CameraConfig
+import numpy as np
+from rlbench.backend.robot import Robot
+from rlbench.backend.robot import UnimanualRobot
+from rlbench.tasks.reach_target import ReachTarget
+
+ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets', 'tasks')
+
+
+class TestScene(unittest.TestCase):
+    """Tests the following:
+        - Getting observations from the scene
+        - Applying noise
+        - Applying domain randomization
+    """
+
+    def setUp(self):
+        self.pyrep = PyRep()
+        self.pyrep.launch(join(environment.DIR_PATH, TTT_FILE), headless=True)
+        self.pyrep.set_simulation_timestep(0.005)
+        self.robot = UnimanualRobot(Panda(), PandaGripper())
+
+    def tearDown(self):
+        self.pyrep.shutdown()
+
+    def test_sensor_noise_images(self):
+        cam_config = CameraConfig(rgb_noise=GaussianNoise(0.05, (.0, 1.)))
+        obs_config = ObservationConfig(
+            left_shoulder_camera=cam_config,
+            joint_forces=False,
+            task_low_dim_state=False)
+        scene = Scene(self.pyrep, self.robot, obs_config)
+        scene.load(ReachTarget(self.pyrep, self.robot))
+        obs1 = scene.get_observation()
+        obs2 = scene.get_observation()
+        self.assertTrue(
+            np.array_equal(obs1.right_shoulder_rgb, obs2.right_shoulder_rgb))
+        self.assertFalse(
+            np.array_equal(obs1.left_shoulder_rgb, obs2.left_shoulder_rgb))
+        self.assertTrue(obs1.left_shoulder_rgb.max() <= 255)
+        self.assertTrue(obs1.left_shoulder_rgb.min() >= 0)
+
+    def test_sensor_noise_robot(self):
+        obs_config = ObservationConfig(
+            joint_velocities_noise=GaussianNoise(0.01),
+            joint_forces=False,
+            task_low_dim_state=False)
+        scene = Scene(self.pyrep, self.robot, obs_config)
+        scene.load(ReachTarget(self.pyrep, self.robot))
+        obs1 = scene.get_observation()
+        obs2 = scene.get_observation()
+        self.assertTrue(
+            np.array_equal(obs1.joint_positions, obs2.joint_positions))
+        self.assertFalse(
+            np.array_equal(obs1.joint_velocities, obs2.joint_velocities))
+
diff --git a/external/rlbench/tests/unit/test_task_sets.py b/external/rlbench/tests/unit/test_task_sets.py
new file mode 100644
index 0000000000000000000000000000000000000000..e93ecbc3f22bb0b90503f1165a16178a2b18eaf3
--- /dev/null
+++ b/external/rlbench/tests/unit/test_task_sets.py
@@ -0,0 +1,38 @@
+import unittest
+from rlbench.tasks import (FS10_V1, FS25_V1, FS50_V1, FS95_V1, MT15_V1,
+                           MT30_V1, MT55_V1, MT100_V1)
+
+
+FS_V1 = [
+    (FS10_V1, 10, 5),
+    (FS25_V1, 25, 5),
+    (FS50_V1, 50, 5),
+    (FS95_V1, 95, 5)]
+
+MT_V1 = [
+    (MT15_V1, 15),
+    (MT30_V1, 30),
+    (MT55_V1, 55),
+    (MT100_V1, 100)]
+
+
+class TestTaskSet(unittest.TestCase):
+
+    def test_fs_v1(self):
+        for ts, train, test in FS_V1:
+            with self.subTest(task_set='FS%d_V1' % train):
+                self.assertEqual(len(ts['train']), train)
+                self.assertEqual(len(ts['test']), test)
+                # Test no duplicates
+                self.assertEqual(len(ts['train'] + ts['test']),
+                                 len(set(ts['train'] + ts['test'])))
+                self.assertFalse(any(i in ts['test'] for i in ts['train']))
+
+    def test_mt_v1(self):
+        for ts, train in MT_V1:
+            with self.subTest(task_set='MT%d_V1' % train):
+                self.assertEqual(len(ts['train']), train)
+                # Test no duplicates
+                self.assertEqual(len(ts['train']), len(set(ts['train'])))
+
+
diff --git a/external/rlbench/tests/unit/test_tasks.py b/external/rlbench/tests/unit/test_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..b64491d53c316a5c497283aa86b6eecb9313a474
--- /dev/null
+++ b/external/rlbench/tests/unit/test_tasks.py
@@ -0,0 +1,55 @@
+import unittest
+import rlbench.backend.task as task
+import os
+from rlbench.backend.utils import task_file_to_task_class
+from pyrep import PyRep
+from pyrep.robots.arms.panda import Panda
+from pyrep.robots.end_effectors.panda_gripper import PandaGripper
+from rlbench.backend.const import TTT_FILE
+from tools.task_validator import task_smoke, TaskValidationError
+from rlbench.observation_config import ObservationConfig
+from rlbench.backend.scene import Scene
+from rlbench.backend.robot import Robot
+from rlbench.backend.robot import UnimanualRobot
+
+
+TASKS = [t for t in os.listdir(task.TASKS_PATH)
+         if t != '__init__.py' and t.endswith('.py')]
+DIR_PATH = os.path.dirname(os.path.abspath(__file__))
+
+
+class TestTasks(unittest.TestCase):
+    """Tests all of the tasks via the task_validator tool but not testing demos.
+
+    This is a lighter-weight test than the full demo smoke that is run in the
+    `tasks` test directory.
+    """
+
+    def test_run_task_validator(self):
+        sim = PyRep()
+        ttt_file = os.path.join(
+            DIR_PATH, '..', '..', 'rlbench', TTT_FILE)
+        sim.launch(ttt_file, headless=True)
+        sim.step_ui()
+        sim.set_simulation_timestep(50.0)
+        sim.step_ui()
+        sim.start()
+        robot = UnimanualRobot(Panda(), PandaGripper())
+        obs = ObservationConfig()
+        obs.set_all(False)
+        scene = Scene(sim, robot, obs)
+
+        for task_file in TASKS:
+            test_name = task_file.split('.py')[0]
+            with self.subTest(task=test_name):
+                sim.start()
+                task_class = task_file_to_task_class(task_file)
+                active_task = task_class(sim, robot)
+                try:
+                    task_smoke(active_task, scene, variation=-1,
+                               test_demos=False, max_variations=9999)
+                except Exception as e:
+                    sim.stop()
+                    raise e
+                sim.stop()
+        sim.shutdown()
diff --git a/external/rlbench/tools/assets/bimanual_task_template.txt b/external/rlbench/tools/assets/bimanual_task_template.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b87d5c0492667d9754e98423211599352bf75af5
--- /dev/null
+++ b/external/rlbench/tools/assets/bimanual_task_template.txt
@@ -0,0 +1,26 @@
+from typing import List
+from rlbench.backend.task import Task
+from rlbench.backend.task import BimanualTask
+
+
+class %s(BimanualTask):
+
+    def init_task(self) -> None:
+        # TODO: This is called once when a task is initialised.
+        pass
+
+    def init_episode(self, index: int) -> List[str]:
+        # TODO: This is called at the start of each episode.
+        return ['']
+
+    def variation_count(self) -> int:
+        # TODO: The number of variations for this task.
+        return 1
+
+    def step(self) -> None:
+        # Called during each sim step. Remove this if not using.
+        pass
+
+    def cleanup(self) -> None:
+        # Called during at the end of each episode. Remove this if not using.
+        pass
diff --git a/external/rlbench/tools/assets/task_template.txt b/external/rlbench/tools/assets/task_template.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4cc8c4d0736ce63b39f45e876098fdc0e1130070
--- /dev/null
+++ b/external/rlbench/tools/assets/task_template.txt
@@ -0,0 +1,25 @@
+from typing import List
+from rlbench.backend.task import Task
+
+
+class %s(Task):
+
+    def init_task(self) -> None:
+        # TODO: This is called once when a task is initialised.
+        pass
+
+    def init_episode(self, index: int) -> List[str]:
+        # TODO: This is called at the start of each episode.
+        return ['']
+
+    def variation_count(self) -> int:
+        # TODO: The number of variations for this task.
+        return 1
+
+    def step(self) -> None:
+        # Called during each sim step. Remove this if not using.
+        pass
+
+    def cleanup(self) -> None:
+        # Called during at the end of each episode. Remove this if not using.
+        pass
diff --git a/external/rlbench/tools/cinematic_recorder.py b/external/rlbench/tools/cinematic_recorder.py
new file mode 100644
index 0000000000000000000000000000000000000000..fed238c77efd7c05f6c526ea3ff30302c5a9914c
--- /dev/null
+++ b/external/rlbench/tools/cinematic_recorder.py
@@ -0,0 +1,158 @@
+import os
+from typing import Type
+import numpy as np
+from absl import app
+from absl import flags
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.vision_sensor import VisionSensor
+
+from rlbench import Environment
+from rlbench.action_modes.action_mode import MoveArmThenGripper
+from rlbench.action_modes.arm_action_modes import JointVelocity
+from rlbench.action_modes.gripper_action_modes import Discrete
+from rlbench.backend.observation import Observation
+from rlbench.backend.task import TASKS_PATH
+from rlbench.backend.task import Task
+from rlbench.backend.utils import task_file_to_task_class
+from rlbench.observation_config import ObservationConfig
+from rlbench.sim2real.domain_randomization import RandomizeEvery, \
+    VisualRandomizationConfig
+
+FLAGS = flags.FLAGS
+
+flags.DEFINE_string(
+    'save_dir', '/tmp/rlbench_videos/',
+    'Where to save the generated videos.')
+flags.DEFINE_list(
+    'tasks', [], 'The tasks to record. If empty, all tasks are recorded.')
+flags.DEFINE_boolean(
+    'individual', True, 'One long clip of all the tasks, or individual videos.')
+flags.DEFINE_boolean(
+    'domain_randomization', False, 'If domain randomization should be applied.')
+flags.DEFINE_string(
+    'textures_path', '',
+    'Where to locate textures if using domain randomization.')
+flags.DEFINE_boolean('headless', True, 'Run in headless mode.')
+flags.DEFINE_list(
+    'camera_resolution', [1280, 720], 'The camera resolution')
+
+
+class CameraMotion(object):
+    def __init__(self, cam: VisionSensor):
+        self.cam = cam
+
+    def step(self):
+        raise NotImplementedError()
+
+    def save_pose(self):
+        self._prev_pose = self.cam.get_pose()
+
+    def restore_pose(self):
+        self.cam.set_pose(self._prev_pose)
+
+
+class CircleCameraMotion(CameraMotion):
+
+    def __init__(self, cam: VisionSensor, origin: Dummy,
+                 speed: float, init_rotation: float = np.deg2rad(0)):
+        super().__init__(cam)
+        self.origin = origin
+        self.speed = speed  # in radians
+        self.origin.rotate([0, 0, init_rotation])
+
+    def step(self):
+        self.origin.rotate([0, 0, self.speed])
+
+
+class TaskRecorder(object):
+
+    def __init__(self, env: Environment, cam_motion: CameraMotion, fps=30):
+        self._env = env
+        self._cam_motion = cam_motion
+        self._fps = fps
+        self._snaps = []
+        self._current_snaps = []
+
+    def take_snap(self, obs: Observation):
+        self._cam_motion.step()
+        self._current_snaps.append(
+            (self._cam_motion.cam.capture_rgb() * 255.).astype(np.uint8))
+
+    def record_task(self, task: Type[Task]):
+        task = self._env.get_task(task)
+        self._cam_motion.save_pose()
+        while True:
+            try:
+                task.get_demos(
+                    1, live_demos=True, callable_each_step=self.take_snap,
+                    max_attempts=1)
+                break
+            except RuntimeError:
+                self._cam_motion.restore_pose()
+                self._current_snaps = []
+        self._snaps.extend(self._current_snaps)
+        self._current_snaps = []
+        return True
+
+    def save(self, path):
+        print('Converting to video ...')
+        os.makedirs(os.path.dirname(path), exist_ok=True)
+        # OpenCV QT version can conflict with PyRep, so import here
+        import cv2
+        video = cv2.VideoWriter(
+                path, cv2.VideoWriter_fourcc('m', 'p', '4', 'v'), self._fps,
+                tuple(self._cam_motion.cam.get_resolution()))
+        for image in self._snaps:
+            video.write(cv2.cvtColor(image, cv2.COLOR_RGB2BGR))
+        video.release()
+        self._snaps = []
+
+
+def main(argv):
+
+    obs_config = ObservationConfig(record_gripper_closing=True)
+    obs_config.set_all(False)
+
+    vrc = rand_every = None
+    frequency = 0
+    if FLAGS.domain_randomization:
+        vrc = VisualRandomizationConfig(FLAGS.textures_path)
+        rand_every = RandomizeEvery.TRANSITION
+        frequency = 10
+
+    action_mode = MoveArmThenGripper(
+        arm_action_mode=JointVelocity(), gripper_action_mode=Discrete())
+    env = Environment(action_mode, obs_config=obs_config,
+                      randomize_every=rand_every, frequency=frequency,
+                      visual_randomization_config=vrc, headless=FLAGS.headless)
+    env.launch()
+
+    # Add the camera to the scene
+    cam_placeholder = Dummy('cam_cinematic_placeholder')
+    cam = VisionSensor.create(FLAGS.camera_resolution)
+    cam.set_pose(cam_placeholder.get_pose())
+    cam.set_parent(cam_placeholder)
+
+    cam_motion = CircleCameraMotion(cam, Dummy('cam_cinematic_base'), 0.005)
+    tr = TaskRecorder(env, cam_motion, fps=30)
+
+    if len(FLAGS.tasks) > 0:
+        task_names = FLAGS.tasks
+    else:
+        task_names = [t.split('.py')[0] for t in os.listdir(TASKS_PATH)
+                      if t != '__init__.py' and t.endswith('.py')]
+    task_classes = [task_file_to_task_class(
+        task_file) for task_file in task_names]
+
+    for i, (name, cls) in enumerate(zip(task_names, task_classes)):
+        good = tr.record_task(cls)
+        if FLAGS.individual and good:
+            tr.save(os.path.join(FLAGS.save_dir, '%s.avi' % name))
+
+    if not FLAGS.individual:
+        tr.save(os.path.join(FLAGS.save_dir, 'recorded_tasks.mp4'))
+    env.shutdown()
+
+
+if __name__ == '__main__':
+    app.run(main)
diff --git a/external/rlbench/tools/create_videos.py b/external/rlbench/tools/create_videos.py
new file mode 100644
index 0000000000000000000000000000000000000000..a36881bbe05790d0079bd2b6701955c9600c6476
--- /dev/null
+++ b/external/rlbench/tools/create_videos.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+
+
+import os
+import traceback
+
+from pyrep import PyRep
+from pyrep.const import RenderMode
+from pyrep.robots.arms.dual_panda import PandaLeft, PandaRight
+from pyrep.robots.end_effectors.dual_panda_gripper import PandaGripperLeft, PandaGripperRight
+from pyrep.objects.shape import Shape
+
+from yarr.utils.video_utils import CircleCameraMotion
+from yarr.utils.video_utils import TaskRecorder
+
+from pyrep.objects.dummy import Dummy
+from pyrep.objects.vision_sensor import VisionSensor
+
+
+from rlbench.backend.exceptions import *
+from rlbench.observation_config import ObservationConfig
+from rlbench.observation_config import CameraConfig
+
+from rlbench.backend.robot import Robot
+from rlbench.backend.robot import BimanualRobot
+from rlbench.backend.scene import Scene
+
+from rlbench.backend.task import BIMANUAL_TASKS_PATH
+from rlbench.backend.const import BIMANUAL_TTT_FILE
+
+import rich_click as click
+from click_prompt import choice_option
+
+
+from rlbench.utils import name_to_task_class
+
+def main():
+    render_videos_for_task()
+
+
+def get_bimanual_tasks():
+    return [t.replace('.py', '') for t in
+    os.listdir(BIMANUAL_TASKS_PATH) if t != '__init__.py' and t.endswith('.py')]
+
+
+@click.command()
+@choice_option('--bimanual-task-files', type=click.Choice(sorted(get_bimanual_tasks())), multiple=True)
+@click.option('--add-task-description/--no-task-description', default=False)
+@click.option('--add-gripper-color/--no-gripper-color', default=False)
+def render_videos_for_task(bimanual_task_files, add_task_description, add_gripper_color):
+
+    CURRENT_DIR = os.path.dirname(os.path.abspath(__file__))
+
+    pr = PyRep()
+    ttt_file = os.path.join(CURRENT_DIR, '..', 'rlbench', BIMANUAL_TTT_FILE)
+    pr.launch(ttt_file, responsive_ui=True)
+    pr.step_ui()
+
+    robot = BimanualRobot(PandaRight(), PandaGripperRight(), PandaLeft(), PandaGripperLeft())
+
+    if add_gripper_color:
+        robot.colorize_gripper()
+
+    cam_config = CameraConfig(rgb=True, depth=False, mask=False,
+                              render_mode=RenderMode.OPENGL3)
+    obs_config = ObservationConfig()
+    obs_config.set_all(False)
+    obs_config.right_shoulder_camera = cam_config
+    obs_config.left_shoulder_camera = cam_config
+    obs_config.overhead_camera = cam_config
+    obs_config.wrist_camera = cam_config
+    obs_config.front_camera = cam_config
+
+    scene = Scene(pr, robot, obs_config)
+
+    for task_file in bimanual_task_files:
+
+
+        if add_task_description:
+            task_name_mapping = {}
+            task_description = task_name_mapping.get(task_file, f"Demo for task {task_file}")
+        else:
+            task_description = ""
+
+        task_class = name_to_task_class(task_file, True)
+        task = task_class(pr, robot,  task_file.replace('.py', ''))
+        try:
+            print(f"Loading {task_file}")
+            scene.load(task)
+            pr.start()
+            pr.step_ui()
+            
+            record_demo(scene, task, task_file, task_description)
+            scene.reset()
+            scene.unload()
+
+            pr.stop()
+            pr.step_ui()
+
+
+        except Exception as e:
+            print("error while loading task")
+            print(e)
+
+
+    pr.step_ui()
+
+    pr.stop()
+    pr.shutdown()
+
+
+def record_demo(scene, task, task_file, task_description):
+        
+        cam_placeholder = Dummy('cam_cinematic_placeholder')
+        cam = VisionSensor.create([1920, 1200], background_color=[1.0, 1.0, 1.0])
+        cam.set_pose(cam_placeholder.get_pose())
+        cam.set_parent(cam_placeholder)
+
+        scene_background = ["Wall1", "Wall2", "Wall3", "Wall4", "Floor", "Roof", "ResizableFloor_5_25_visibleElement"]
+
+        for object_name in scene_background: 
+            Shape(object_name).set_renderable(False)
+
+        cam_motion = CircleCameraMotion(cam, Dummy('cam_cinematic_base'), 0.005)
+        tr = TaskRecorder(None, cam_motion, fps=30)
+
+        try:
+            scene.get_demo(False, callable_each_step=tr.take_snap, randomly_place=False)
+        except (WaypointError, NoWaypointsError, DemoError, Exception) as e:
+            traceback.print_exc()
+            return
+        success, terminate = task.success()
+
+        task_result = "success" if success else "failed"
+
+        recording_output_path = f"/tmp/{task_result}/rlbench_video_{task_file}.mp4"
+
+        os.makedirs(os.path.dirname(recording_output_path), exist_ok=True)
+
+        tr.save(recording_output_path, task_description, None)
+
+        print(f"Saving video to {recording_output_path}")
+
+        for object_name in scene_background: 
+            Shape(object_name).set_renderable(True)
+
+        if success:
+            print("Demo was a success!")
+
+
+if __name__ == '__main__':
+    main()
diff --git a/external/rlbench/tools/dataset_generator.py b/external/rlbench/tools/dataset_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..a7ffc511524fb92eec5cd8ea06a594c1d2ceeacd
--- /dev/null
+++ b/external/rlbench/tools/dataset_generator.py
@@ -0,0 +1,461 @@
+from multiprocessing import Process, Manager
+
+from pyrep.const import RenderMode
+
+from rlbench import ObservationConfig
+from rlbench.action_modes.action_mode import MoveArmThenGripper
+from rlbench.action_modes.arm_action_modes import JointVelocity
+from rlbench.action_modes.gripper_action_modes import Discrete
+from rlbench.backend.utils import task_file_to_task_class
+from rlbench.environment import Environment
+import rlbench.backend.task as task
+
+import os
+import pickle
+from PIL import Image
+from rlbench.backend import utils
+from rlbench.backend.const import *
+import numpy as np
+
+from absl import app
+from absl import flags
+
+FLAGS = flags.FLAGS
+
+flags.DEFINE_string('save_path',
+                    '/tmp/rlbench_data/',
+                    'Where to save the demos.')
+flags.DEFINE_list('tasks', [],
+                  'The tasks to collect. If empty, all tasks are collected.')
+flags.DEFINE_list('image_size', [128, 128],
+                  'The size of the images tp save.')
+flags.DEFINE_enum('renderer',  'opengl3', ['opengl', 'opengl3'],
+                  'The renderer to use. opengl does not include shadows, '
+                  'but is faster.')
+flags.DEFINE_integer('processes', 1,
+                     'The number of parallel processes during collection.')
+flags.DEFINE_integer('episodes_per_task', 10,
+                     'The number of episodes to collect per task.')
+flags.DEFINE_integer('variations', -1,
+                     'Number of variations to collect per task. -1 for all.')
+flags.DEFINE_bool('all_variations', True,
+                  'Include all variations when sampling epsiodes')
+
+
+def check_and_make(dir):
+    if not os.path.exists(dir):
+        os.makedirs(dir)
+
+
+def save_demo(demo, example_path, variation):
+
+    # Save image data first, and then None the image data, and pickle
+    left_shoulder_rgb_path = os.path.join(
+        example_path, LEFT_SHOULDER_RGB_FOLDER)
+    left_shoulder_depth_path = os.path.join(
+        example_path, LEFT_SHOULDER_DEPTH_FOLDER)
+    left_shoulder_mask_path = os.path.join(
+        example_path, LEFT_SHOULDER_MASK_FOLDER)
+    right_shoulder_rgb_path = os.path.join(
+        example_path, RIGHT_SHOULDER_RGB_FOLDER)
+    right_shoulder_depth_path = os.path.join(
+        example_path, RIGHT_SHOULDER_DEPTH_FOLDER)
+    right_shoulder_mask_path = os.path.join(
+        example_path, RIGHT_SHOULDER_MASK_FOLDER)
+    overhead_rgb_path = os.path.join(
+        example_path, OVERHEAD_RGB_FOLDER)
+    overhead_depth_path = os.path.join(
+        example_path, OVERHEAD_DEPTH_FOLDER)
+    overhead_mask_path = os.path.join(
+        example_path, OVERHEAD_MASK_FOLDER)
+    wrist_rgb_path = os.path.join(example_path, WRIST_RGB_FOLDER)
+    wrist_depth_path = os.path.join(example_path, WRIST_DEPTH_FOLDER)
+    wrist_mask_path = os.path.join(example_path, WRIST_MASK_FOLDER)
+    front_rgb_path = os.path.join(example_path, FRONT_RGB_FOLDER)
+    front_depth_path = os.path.join(example_path, FRONT_DEPTH_FOLDER)
+    front_mask_path = os.path.join(example_path, FRONT_MASK_FOLDER)
+
+    check_and_make(left_shoulder_rgb_path)
+    check_and_make(left_shoulder_depth_path)
+    check_and_make(left_shoulder_mask_path)
+    check_and_make(right_shoulder_rgb_path)
+    check_and_make(right_shoulder_depth_path)
+    check_and_make(right_shoulder_mask_path)
+    check_and_make(overhead_rgb_path)
+    check_and_make(overhead_depth_path)
+    check_and_make(overhead_mask_path)
+    check_and_make(wrist_rgb_path)
+    check_and_make(wrist_depth_path)
+    check_and_make(wrist_mask_path)
+    check_and_make(front_rgb_path)
+    check_and_make(front_depth_path)
+    check_and_make(front_mask_path)
+
+    for i, obs in enumerate(demo):
+        left_shoulder_rgb = Image.fromarray(obs.left_shoulder_rgb)
+        left_shoulder_depth = utils.float_array_to_rgb_image(
+            obs.left_shoulder_depth, scale_factor=DEPTH_SCALE)
+        left_shoulder_mask = Image.fromarray(
+            (obs.left_shoulder_mask * 255).astype(np.uint8))
+        right_shoulder_rgb = Image.fromarray(obs.right_shoulder_rgb)
+        right_shoulder_depth = utils.float_array_to_rgb_image(
+            obs.right_shoulder_depth, scale_factor=DEPTH_SCALE)
+        right_shoulder_mask = Image.fromarray(
+            (obs.right_shoulder_mask * 255).astype(np.uint8))
+        overhead_rgb = Image.fromarray(obs.overhead_rgb)
+        overhead_depth = utils.float_array_to_rgb_image(
+            obs.overhead_depth, scale_factor=DEPTH_SCALE)
+        overhead_mask = Image.fromarray(
+            (obs.overhead_mask * 255).astype(np.uint8))
+        wrist_rgb = Image.fromarray(obs.wrist_rgb)
+        wrist_depth = utils.float_array_to_rgb_image(
+            obs.wrist_depth, scale_factor=DEPTH_SCALE)
+        wrist_mask = Image.fromarray((obs.wrist_mask * 255).astype(np.uint8))
+        front_rgb = Image.fromarray(obs.front_rgb)
+        front_depth = utils.float_array_to_rgb_image(
+            obs.front_depth, scale_factor=DEPTH_SCALE)
+        front_mask = Image.fromarray((obs.front_mask * 255).astype(np.uint8))
+
+        left_shoulder_rgb.save(
+            os.path.join(left_shoulder_rgb_path, IMAGE_FORMAT % i))
+        left_shoulder_depth.save(
+            os.path.join(left_shoulder_depth_path, IMAGE_FORMAT % i))
+        left_shoulder_mask.save(
+            os.path.join(left_shoulder_mask_path, IMAGE_FORMAT % i))
+        right_shoulder_rgb.save(
+            os.path.join(right_shoulder_rgb_path, IMAGE_FORMAT % i))
+        right_shoulder_depth.save(
+            os.path.join(right_shoulder_depth_path, IMAGE_FORMAT % i))
+        right_shoulder_mask.save(
+            os.path.join(right_shoulder_mask_path, IMAGE_FORMAT % i))
+        overhead_rgb.save(
+            os.path.join(overhead_rgb_path, IMAGE_FORMAT % i))
+        overhead_depth.save(
+            os.path.join(overhead_depth_path, IMAGE_FORMAT % i))
+        overhead_mask.save(
+            os.path.join(overhead_mask_path, IMAGE_FORMAT % i))
+        wrist_rgb.save(os.path.join(wrist_rgb_path, IMAGE_FORMAT % i))
+        wrist_depth.save(os.path.join(wrist_depth_path, IMAGE_FORMAT % i))
+        wrist_mask.save(os.path.join(wrist_mask_path, IMAGE_FORMAT % i))
+        front_rgb.save(os.path.join(front_rgb_path, IMAGE_FORMAT % i))
+        front_depth.save(os.path.join(front_depth_path, IMAGE_FORMAT % i))
+        front_mask.save(os.path.join(front_mask_path, IMAGE_FORMAT % i))
+
+        # We save the images separately, so set these to None for pickling.
+        obs.left_shoulder_rgb = None
+        obs.left_shoulder_depth = None
+        obs.left_shoulder_point_cloud = None
+        obs.left_shoulder_mask = None
+        obs.right_shoulder_rgb = None
+        obs.right_shoulder_depth = None
+        obs.right_shoulder_point_cloud = None
+        obs.right_shoulder_mask = None
+        obs.overhead_rgb = None
+        obs.overhead_depth = None
+        obs.overhead_point_cloud = None
+        obs.overhead_mask = None
+        obs.wrist_rgb = None
+        obs.wrist_depth = None
+        obs.wrist_point_cloud = None
+        obs.wrist_mask = None
+        obs.front_rgb = None
+        obs.front_depth = None
+        obs.front_point_cloud = None
+        obs.front_mask = None
+
+    # Save the low-dimension data
+    with open(os.path.join(example_path, LOW_DIM_PICKLE), 'wb') as f:
+        pickle.dump(demo, f)
+
+
+    with open(os.path.join(example_path, VARIATION_NUMBER), 'wb') as f:
+        pickle.dump(variation, f)
+
+
+def run(i, lock, task_index, variation_count, results, file_lock, tasks):
+    """Each thread will choose one task and variation, and then gather
+    all the episodes_per_task for that variation."""
+
+    # Initialise each thread with random seed
+    np.random.seed(None)
+    num_tasks = len(tasks)
+
+    img_size = list(map(int, FLAGS.image_size))
+
+    obs_config = ObservationConfig()
+    obs_config.set_all(True)
+    obs_config.right_shoulder_camera.image_size = img_size
+    obs_config.left_shoulder_camera.image_size = img_size
+    obs_config.overhead_camera.image_size = img_size
+    obs_config.wrist_camera.image_size = img_size
+    obs_config.front_camera.image_size = img_size
+
+    # Store depth as 0 - 1
+    obs_config.right_shoulder_camera.depth_in_meters = False
+    obs_config.left_shoulder_camera.depth_in_meters = False
+    obs_config.overhead_camera.depth_in_meters = False
+    obs_config.wrist_camera.depth_in_meters = False
+    obs_config.front_camera.depth_in_meters = False
+
+    # We want to save the masks as rgb encodings.
+    obs_config.left_shoulder_camera.masks_as_one_channel = False
+    obs_config.right_shoulder_camera.masks_as_one_channel = False
+    obs_config.overhead_camera.masks_as_one_channel = False
+    obs_config.wrist_camera.masks_as_one_channel = False
+    obs_config.front_camera.masks_as_one_channel = False
+
+    if FLAGS.renderer == 'opengl':
+        obs_config.right_shoulder_camera.render_mode = RenderMode.OPENGL
+        obs_config.left_shoulder_camera.render_mode = RenderMode.OPENGL
+        obs_config.overhead_camera.render_mode = RenderMode.OPENGL
+        obs_config.wrist_camera.render_mode = RenderMode.OPENGL
+        obs_config.front_camera.render_mode = RenderMode.OPENGL
+
+    rlbench_env = Environment(
+        action_mode=MoveArmThenGripper(JointVelocity(), Discrete()),
+        obs_config=obs_config,
+        headless=True)
+    rlbench_env.launch()
+
+    task_env = None
+
+    tasks_with_problems = results[i] = ''
+
+    while True:
+        # Figure out what task/variation this thread is going to do
+        with lock:
+
+            if task_index.value >= num_tasks:
+                print('Process', i, 'finished')
+                break
+
+            my_variation_count = variation_count.value
+            t = tasks[task_index.value]
+            task_env = rlbench_env.get_task(t)
+            var_target = task_env.variation_count()
+            if FLAGS.variations >= 0:
+                var_target = np.minimum(FLAGS.variations, var_target)
+            if my_variation_count >= var_target:
+                # If we have reached the required number of variations for this
+                # task, then move on to the next task.
+                variation_count.value = my_variation_count = 0
+                task_index.value += 1
+
+            variation_count.value += 1
+            if task_index.value >= num_tasks:
+                print('Process', i, 'finished')
+                break
+            t = tasks[task_index.value]
+
+        variation_path = os.path.join(
+            FLAGS.save_path, task_env.get_name(),
+            VARIATIONS_FOLDER % my_variation_count)
+        check_and_make(variation_path)
+
+        episodes_path = os.path.join(variation_path, EPISODES_FOLDER)
+        check_and_make(episodes_path)
+
+        abort_variation = False
+        for ex_idx in range(FLAGS.episodes_per_task):
+            print('Process', i, '// Task:', task_env.get_name(),
+                  '// Variation:', my_variation_count, '// Demo:', ex_idx)
+            attempts = 10
+            while attempts > 0:
+                try:
+                    task_env = rlbench_env.get_task(t)
+                    task_env.set_variation(my_variation_count)
+                    descriptions, obs = task_env.reset()
+
+                    # TODO: for now we do the explicit looping.
+                    demo, = task_env.get_demos(
+                        amount=1,
+                        live_demos=True)
+                except Exception as e:
+                    attempts -= 1
+                    if attempts > 0:
+                        continue
+                    problem = (
+                        'Process %d failed collecting task %s (variation: %d, '
+                        'example: %d). Skipping this task/variation.\n%s\n' % (
+                            i, task_env.get_name(), my_variation_count, ex_idx,
+                            str(e))
+                    )
+                    print(problem)
+                    tasks_with_problems += problem
+                    abort_variation = True
+                    break
+                episode_path = os.path.join(episodes_path, EPISODE_FOLDER % ex_idx)
+                with file_lock:
+                    save_demo(demo, episode_path, my_variation_count)
+
+                    with open(os.path.join(
+                            episode_path, VARIATION_DESCRIPTIONS), 'wb') as f:
+                        pickle.dump(descriptions, f)
+                break
+            if abort_variation:
+                break
+
+    results[i] = tasks_with_problems
+    rlbench_env.shutdown()
+
+
+def run_all_variations(i, lock, task_index, variation_count, results, file_lock, tasks):
+    """Each thread will choose one task and variation, and then gather
+    all the episodes_per_task for that variation."""
+
+    # Initialise each thread with random seed
+    np.random.seed(None)
+    num_tasks = len(tasks)
+
+    img_size = list(map(int, FLAGS.image_size))
+
+    obs_config = ObservationConfig()
+    obs_config.set_all(True)
+    obs_config.right_shoulder_camera.image_size = img_size
+    obs_config.left_shoulder_camera.image_size = img_size
+    obs_config.overhead_camera.image_size = img_size
+    obs_config.wrist_camera.image_size = img_size
+    obs_config.front_camera.image_size = img_size
+
+    # Store depth as 0 - 1
+    obs_config.right_shoulder_camera.depth_in_meters = False
+    obs_config.left_shoulder_camera.depth_in_meters = False
+    obs_config.overhead_camera.depth_in_meters = False
+    obs_config.wrist_camera.depth_in_meters = False
+    obs_config.front_camera.depth_in_meters = False
+
+    # We want to save the masks as rgb encodings.
+    obs_config.left_shoulder_camera.masks_as_one_channel = False
+    obs_config.right_shoulder_camera.masks_as_one_channel = False
+    obs_config.overhead_camera.masks_as_one_channel = False
+    obs_config.wrist_camera.masks_as_one_channel = False
+    obs_config.front_camera.masks_as_one_channel = False
+
+    if FLAGS.renderer == 'opengl':
+        obs_config.right_shoulder_camera.render_mode = RenderMode.OPENGL
+        obs_config.left_shoulder_camera.render_mode = RenderMode.OPENGL
+        obs_config.overhead_camera.render_mode = RenderMode.OPENGL
+        obs_config.wrist_camera.render_mode = RenderMode.OPENGL
+        obs_config.front_camera.render_mode = RenderMode.OPENGL
+
+    rlbench_env = Environment(
+        action_mode=MoveArmThenGripper(JointVelocity(), Discrete()),
+        obs_config=obs_config,
+        headless=True)
+    rlbench_env.launch()
+
+    task_env = None
+
+    tasks_with_problems = results[i] = ''
+
+    while True:
+        # with lock:
+        if task_index.value >= num_tasks:
+            print('Process', i, 'finished')
+            break
+
+        t = tasks[task_index.value]
+
+        task_env = rlbench_env.get_task(t)
+        possible_variations = task_env.variation_count()
+
+        variation_path = os.path.join(
+            FLAGS.save_path, task_env.get_name(),
+            VARIATIONS_ALL_FOLDER)
+        check_and_make(variation_path)
+
+        episodes_path = os.path.join(variation_path, EPISODES_FOLDER)
+        check_and_make(episodes_path)
+
+        abort_variation = False
+        for ex_idx in range(FLAGS.episodes_per_task):
+            attempts = 10
+            while attempts > 0:
+                try:
+                    variation = np.random.randint(possible_variations)
+                    task_env = rlbench_env.get_task(t)
+                    task_env.set_variation(variation)
+                    descriptions, obs = task_env.reset()
+
+                    print('Process', i, '// Task:', task_env.get_name(),
+                          '// Variation:', variation, '// Demo:', ex_idx)
+
+                    # TODO: for now we do the explicit looping.
+                    demo, = task_env.get_demos(
+                        amount=1,
+                        live_demos=True)
+                except Exception as e:
+                    attempts -= 1
+                    if attempts > 0:
+                        continue
+                    problem = (
+                        'Process %d failed collecting task %s (variation: %d, '
+                        'example: %d). Skipping this task/variation.\n%s\n' % (
+                            i, task_env.get_name(), variation, ex_idx,
+                            str(e))
+                    )
+                    print(problem)
+                    tasks_with_problems += problem
+                    abort_variation = True
+                    break
+                episode_path = os.path.join(episodes_path, EPISODE_FOLDER % ex_idx)
+                with file_lock:
+                    save_demo(demo, episode_path, variation)
+
+                    with open(os.path.join(
+                            episode_path, VARIATION_DESCRIPTIONS), 'wb') as f:
+                        pickle.dump(descriptions, f)
+                break
+            if abort_variation:
+                break
+
+        # with lock:
+        task_index.value += 1
+
+    results[i] = tasks_with_problems
+    rlbench_env.shutdown()
+
+
+def main(argv):
+
+    task_files = [t.replace('.py', '') for t in os.listdir(task.TASKS_PATH)
+                  if t != '__init__.py' and t.endswith('.py')]
+
+    if len(FLAGS.tasks) > 0:
+        for t in FLAGS.tasks:
+            if t not in task_files:
+                raise ValueError('Task %s not recognised!.' % t)
+        task_files = FLAGS.tasks
+
+    tasks = [task_file_to_task_class(t) for t in task_files]
+
+    manager = Manager()
+
+    result_dict = manager.dict()
+    file_lock = manager.Lock()
+
+    task_index = manager.Value('i', 0)
+    variation_count = manager.Value('i', 0)
+    lock = manager.Lock()
+
+    check_and_make(FLAGS.save_path)
+
+    if FLAGS.all_variations:
+        # multiprocessing for all_variations not support (for now)
+        run_all_variations(0, lock, task_index, variation_count, result_dict, file_lock, tasks)
+    else:
+        processes = [Process(
+            target=run, args=(
+                i, lock, task_index, variation_count, result_dict, file_lock,
+                tasks))
+            for i in range(FLAGS.processes)]
+        [t.start() for t in processes]
+        [t.join() for t in processes]
+
+    print('Data collection done!')
+    for i in range(FLAGS.processes):
+        print(result_dict[i])
+
+
+if __name__ == '__main__':
+  app.run(main)
diff --git a/external/rlbench/tutorials/tutorial_images/adjust_shape_color_labeled.png b/external/rlbench/tutorials/tutorial_images/adjust_shape_color_labeled.png
new file mode 100644
index 0000000000000000000000000000000000000000..9408cae3e8d757677b392f677128eb0a7df09ce8
Binary files /dev/null and b/external/rlbench/tutorials/tutorial_images/adjust_shape_color_labeled.png differ
diff --git a/external/rlbench/tutorials/tutorial_images/create_cuboid_dialog.png b/external/rlbench/tutorials/tutorial_images/create_cuboid_dialog.png
new file mode 100644
index 0000000000000000000000000000000000000000..00198c0c29e14235f93e3f44a08562d49ebc29ab
Binary files /dev/null and b/external/rlbench/tutorials/tutorial_images/create_cuboid_dialog.png differ
diff --git a/external/rlbench/tutorials/tutorial_images/create_new_task_labeled.png b/external/rlbench/tutorials/tutorial_images/create_new_task_labeled.png
new file mode 100644
index 0000000000000000000000000000000000000000..e08199bba587eb539922158b111ceb02f71434f1
Binary files /dev/null and b/external/rlbench/tutorials/tutorial_images/create_new_task_labeled.png differ