assets: bi-dexhands source objects (bottle_cap/cup/pen, Apache-2.0) + local_bottle_cap MJCF/URDF

assets/bi-dexhands/ATTRIBUTION.md

@@ -0,0 +1,33 @@
+# bi-dexhands — imported task-object assets
+
+Source: [PKU-MARL/DexterousHands](https://github.com/PKU-MARL/DexterousHands)
+(Bi-DexHands), `assets/mjcf/{bottle_cap,cup,pen}` @ commit
+`dc41afd134cebfe4d80a5b861f0b8c15d734320a`, imported 2026-08-03.
+
+License: Apache-2.0 (upstream `LICENSE` copied alongside this file). The
+objects themselves originate from the PartNet-Mobility / SAPIEN dataset that
+Bi-DexHands vendors; each asset dir keeps its PartNet metadata
+(`meta.json` / `mobility_v2.json` / `semantics.txt` / `result*.json`).
+
+## What is here
+
+| Dir | Upstream task | Maps to WUJI task |
+| --- | --- | --- |
+| `bottle_cap/` | ShadowHandBottleCap | `hand_track.open_bottle_cap` (currently a project-authored primitive asset, `assets/local_bottle_cap/`) |
+| `cup/` | ShadowHandSwingCup | `hand_track.rotate_mug` (currently YCB mug) |
+| `pen/` | ShadowHandPenCap | `hand_track.pen_in_holder` (currently YCB large_marker) |
+
+Kept per asset: `mobility.urdf`, the textured meshes (`textured_objs/`),
+textures (`images/`), and the PartNet metadata. Dropped (documentation bloat,
+not needed to build sim assets): `parts_render*/`, `tree_hier*.html`,
+`point_sample/`.
+
+## Status
+
+These are the RAW upstream source assets, imported for provenance and future
+task upgrades. They are **not yet wired into any `hand_track` task**: using
+them in MuJoCo/IsaacSim requires per-asset conversion (collision decomposition,
+MJCF authoring, grasp-friction calibration, checker re-validation) — the same
+pipeline that produced the YCB/GSO assets. The shipped `open_bottle_cap` task
+uses the physics-validated primitive `assets/local_bottle_cap/` asset; swapping
+in `bi-dexhands/bottle_cap` meshes is a tracked follow-up.

assets/bi-dexhands/LICENSE

@@ -0,0 +1,201 @@
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assets/bi-dexhands/bottle_cap/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.256442, -0.837097, -0.255704], "max": [0.270453, 0.997018, 0.270788]}

assets/bi-dexhands/bottle_cap/meta.json

@@ -0,0 +1 @@
+{"model_id": "f0a5f6d2cf8fcb72c12d8e00a78db6e2", "anno_id": "4064", "user_id": "zhouwenxian", "time_in_sec": "88", "version": "3", "model_cat": "Bottle"}

assets/bi-dexhands/bottle_cap/mobility.urdf

@@ -0,0 +1,111 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f0a5f6d2cf8fcb72c12d8e00a78db6e2">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-7">
+			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<visual name="body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<visual name="body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<visual name="body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<visual name="body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<visual name="neck-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj" scale="0.15 0.15 0.15"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.007005959241653967 0 0.007542109902568375"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.06400000000000006"/>
+	</joint>
+</robot>

assets/bi-dexhands/bottle_cap/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":7,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.007005959241653967,0,0.007542109902568375],"direction":[0,1,0]},"limit":{"a":0,"b":0.06400000000000006,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":5,"name":"body","children":[]},{"id":6,"name":"neck","children":[]}],"jointData":{}}]

assets/bi-dexhands/bottle_cap/result.json

@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["original-4", "original-3", "original-8", "original-6", "original-2"], "id": 5, "name": "body"}, {"text": "Neck", "objs": ["original-5"], "id": 6, "name": "neck"}, {"text": "Lid", "objs": ["original-7"], "id": 7, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]

assets/bi-dexhands/bottle_cap/result_after_merging.json

@@ -0,0 +1 @@
+[{"text": "bottle", "name": "bottle", "ori_id": 0, "id": 0, "objs": ["original-4", "original-3", "original-8", "original-6", "original-2", "original-5", "original-7"], "children": [{"text": "normal_bottle", "name": "normal_bottle", "ori_id": 1, "id": 1, "objs": ["original-4", "original-3", "original-8", "original-6", "original-2", "original-5", "original-7"], "children": [{"ori_id": 5, "objs": ["original-4", "original-3", "original-8", "original-6", "original-2"], "text": "body", "id": 2, "name": "body"}, {"ori_id": 6, "objs": ["original-5"], "text": "neck", "id": 3, "name": "neck"}, {"ori_id": 7, "objs": ["original-7"], "text": "lid", "id": 4, "name": "lid"}]}]}]

assets/bi-dexhands/bottle_cap/semantics.txt

@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body

assets/bi-dexhands/bottle_cap/textured_objs/original-2.mtl

@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+

assets/bi-dexhands/bottle_cap/textured_objs/original-3.mtl

@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+

assets/bi-dexhands/bottle_cap/textured_objs/original-4.mtl

@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+

assets/bi-dexhands/bottle_cap/textured_objs/original-5.mtl

@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+

assets/bi-dexhands/bottle_cap/textured_objs/original-5.obj

@@ -0,0 +1,480 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
+v 0.007006 0.991304 -0.066737
+v 0.018626 0.892098 -0.065822
+v 0.007006 0.892098 -0.066737
+v 0.018626 0.991304 -0.065822
+v -0.004614 0.991304 -0.065822
+v 0.018626 0.991304 0.080906
+v 0.029959 0.892098 -0.063101
+v -0.004614 0.892098 -0.065822
+v 0.007006 0.991304 0.081821
+v 0.029959 0.991304 -0.063101
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+v -0.004614 0.991304 0.080906
+v 0.007006 0.892098 0.081821
+v 0.029959 0.991304 0.078185
+v 0.040728 0.892098 -0.058641
+v -0.015948 0.892098 -0.063101
+v -0.004614 0.892098 0.080906
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+v 0.040728 0.991304 0.073725
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+v -0.059177 0.892098 -0.026180
+v -0.063638 0.991304 -0.015411
+v -0.063638 0.991304 0.030495
+v 0.080370 0.991304 -0.004078
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+v -0.063638 0.892098 0.030495
+v 0.080370 0.892098 -0.004078
+v -0.062682 0.892098 -0.018167
+v -0.066359 0.991304 -0.004078
+v -0.066359 0.991304 0.019162
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assets/bi-dexhands/cup/bounding_box.json

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assets/bi-dexhands/cup/meta.json

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assets/bi-dexhands/cup/mobility.urdf

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+		<child link="link_1"/>
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assets/bi-dexhands/cup/mobility_v2.json

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assets/bi-dexhands/cup/result.json

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assets/bi-dexhands/cup/result_after_merging.json

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assets/bi-dexhands/cup/semantics.txt

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+				<mesh filename="textured_objs/original-18.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

assets/bi-dexhands/pen/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "cap", "parts": [{"id": 1, "name": "cap", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.492, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]