diff --git a/assets/bi-dexhands/ATTRIBUTION.md b/assets/bi-dexhands/ATTRIBUTION.md
new file mode 100644
index 0000000000000000000000000000000000000000..e4f12e24c82772764c141f24f3db881bcb5f4034
--- /dev/null
+++ b/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.
diff --git a/assets/bi-dexhands/LICENSE b/assets/bi-dexhands/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f05914585199a2e30b031edcacf53cbe5b69965f
--- /dev/null
+++ b/assets/bi-dexhands/LICENSE
@@ -0,0 +1,201 @@
+ Apache License
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+ To apply the Apache License to your work, attach the following
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diff --git a/assets/bi-dexhands/bottle_cap/bounding_box.json b/assets/bi-dexhands/bottle_cap/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e9421129fc027aed8d0e0ad5a8a4a50c2b8db7
--- /dev/null
+++ b/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]}
\ No newline at end of file
diff --git a/assets/bi-dexhands/bottle_cap/images/texture_0.jpg b/assets/bi-dexhands/bottle_cap/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c1c9a3c2785a83ea8453069c803202f0c73a9eef
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8757e54b7df2998927c86efe4f7bea90e9daae66c22ce56566d6d445a840971e
+size 5289
diff --git a/assets/bi-dexhands/bottle_cap/images/texture_1.jpg b/assets/bi-dexhands/bottle_cap/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..46cead300fea20c6708027da11df0c11c50f2e61
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbda7896eecb6ebcaa6f9e7826b1e04c7b6de873cd29c731610462d3a4830c8c
+size 95566
diff --git a/assets/bi-dexhands/bottle_cap/meta.json b/assets/bi-dexhands/bottle_cap/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d1a4cbb9179a022a2f212600a038f6e84e8fe62
--- /dev/null
+++ b/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"}
\ No newline at end of file
diff --git a/assets/bi-dexhands/bottle_cap/mobility.urdf b/assets/bi-dexhands/bottle_cap/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb7212479af839850fdc75463e8ff00b53a2f14d
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/mobility.urdf
@@ -0,0 +1,111 @@
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diff --git a/assets/bi-dexhands/bottle_cap/mobility_v2.json b/assets/bi-dexhands/bottle_cap/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d992b06066c8201b34b0ca81ea795e7b2eaadc5b
--- /dev/null
+++ b/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":{}}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/bottle_cap/result.json b/assets/bi-dexhands/bottle_cap/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..874bfe32f7eb0e54051f7ce055d2776c59f0028e
--- /dev/null
+++ b/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"}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/bottle_cap/result_after_merging.json b/assets/bi-dexhands/bottle_cap/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae45dc0a3120ac94daa708226c3be59a59e4ed2c
--- /dev/null
+++ b/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"}]}]}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/bottle_cap/semantics.txt b/assets/bi-dexhands/bottle_cap/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-2.mtl b/assets/bi-dexhands/bottle_cap/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d19d1b103f4e1ad77342c852856427a4fcc31d1c
--- /dev/null
+++ b/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
+
diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-2.obj b/assets/bi-dexhands/bottle_cap/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbb753bc7c944a680b75c3bc066ba5f060a4cfa
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/textured_objs/original-2.obj
@@ -0,0 +1,6460 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-3.obj b/assets/bi-dexhands/bottle_cap/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..c935825d200f0422feee9f404c5ffe52dc116e7c
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-4.mtl b/assets/bi-dexhands/bottle_cap/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d19d1b103f4e1ad77342c852856427a4fcc31d1c
--- /dev/null
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+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-4.obj b/assets/bi-dexhands/bottle_cap/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3d14cd17e55d08c4a017e1de07b996ca802468
--- /dev/null
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-6.obj b/assets/bi-dexhands/bottle_cap/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..93218b5fcb89258558fe32aa9deb2d64da08655c
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-7.mtl b/assets/bi-dexhands/bottle_cap/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c44d0d538b4f7d628a51c09525192edb544f7d1c
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/textured_objs/original-7.mtl
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-7.obj b/assets/bi-dexhands/bottle_cap/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8206b01a3367133316cb3381435c39e3e64a0460
--- /dev/null
+++ b/assets/bi-dexhands/bottle_cap/textured_objs/original-7.obj
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-8.mtl b/assets/bi-dexhands/bottle_cap/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
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diff --git a/assets/bi-dexhands/bottle_cap/textured_objs/original-8.obj b/assets/bi-dexhands/bottle_cap/textured_objs/original-8.obj
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diff --git a/assets/bi-dexhands/cup/bounding_box.json b/assets/bi-dexhands/cup/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3b97d1eb5a205f8feea3d861317f70fb18a3e1
--- /dev/null
+++ b/assets/bi-dexhands/cup/bounding_box.json
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\ No newline at end of file
diff --git a/assets/bi-dexhands/cup/meta.json b/assets/bi-dexhands/cup/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3acbf08216c80118a0172b80adf3655d681bace9
--- /dev/null
+++ b/assets/bi-dexhands/cup/meta.json
@@ -0,0 +1 @@
+{"model_id":"fd1f9e8add1fcbd123c841f9d5051936","anno_id":"8848","user_id":"chuangda003","time_in_sec":"163","version":"4","model_cat":"Bottle","original_model_cat":"Mug"}
\ No newline at end of file
diff --git a/assets/bi-dexhands/cup/mobility.urdf b/assets/bi-dexhands/cup/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a11ab462c78a396ae184de896c9882c2a86b844
--- /dev/null
+++ b/assets/bi-dexhands/cup/mobility.urdf
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diff --git a/assets/bi-dexhands/cup/mobility_v2.json b/assets/bi-dexhands/cup/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f25527c09e562c5d321e3499ac686052dbcfe33
--- /dev/null
+++ b/assets/bi-dexhands/cup/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":3,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.013007224518146773,0,-0.06225716369432219],"direction":[0,1,0]},"limit":{"a":0,"b":0.1080000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":1,"name":"body","children":[]},{"id":2,"name":"handle","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/cup/result.json b/assets/bi-dexhands/cup/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ce5bbf5f86413fe8fc1267e7cfd493e661b10c
--- /dev/null
+++ b/assets/bi-dexhands/cup/result.json
@@ -0,0 +1 @@
+[{"text": "Mug", "children": [{"text": "Body", "objs": ["original-2", "new-0", "new-1"], "id": 1, "name": "body"}, {"text": "Handle", "objs": ["original-5"], "id": 2, "name": "handle"}, {"text": "Lid", "objs": ["original-1", "original-6", "original-4"], "id": 3, "name": "lid"}], "id": 0, "name": "mug"}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/cup/result_after_merging.json b/assets/bi-dexhands/cup/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..23cff76dd57cd7c258115414947d474553782bbf
--- /dev/null
+++ b/assets/bi-dexhands/cup/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"ori_id": 1, "name": "body", "text": "body", "objs": ["original-2", "new-0", "new-1"], "id": 1}, {"ori_id": 2, "name": "handle", "text": "handle", "objs": ["original-5"], "id": 2}], "name": "mug", "text": "mug", "id": 0, "ori_id": 0, "objs": ["original-2", "new-0", "new-1", "original-5", "original-1", "original-6", "original-4"]}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/cup/semantics.txt b/assets/bi-dexhands/cup/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d06c6d84d90181d65cb9e244df35b5262c9bac9
--- /dev/null
+++ b/assets/bi-dexhands/cup/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider translation_lid
+link_1 free bottle_body
diff --git a/assets/bi-dexhands/cup/textured_objs/new-0.mtl b/assets/bi-dexhands/cup/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6134d491cb52ce7fee52fa9857ee05e8e251961d
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/new-0.mtl
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+illum 3
+d 1
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diff --git a/assets/bi-dexhands/cup/textured_objs/new-0.obj b/assets/bi-dexhands/cup/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8847f7753c527d40fdef80c474dad92233aa4c
--- /dev/null
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diff --git a/assets/bi-dexhands/cup/textured_objs/new-1.mtl b/assets/bi-dexhands/cup/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6134d491cb52ce7fee52fa9857ee05e8e251961d
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/new-1.mtl
@@ -0,0 +1,8 @@
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diff --git a/assets/bi-dexhands/cup/textured_objs/new-1.obj b/assets/bi-dexhands/cup/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26095debb5de95254874d4e1fb3e83bd137e52ca
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/new-1.obj
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-1.mtl b/assets/bi-dexhands/cup/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/bi-dexhands/cup/textured_objs/original-1.obj b/assets/bi-dexhands/cup/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba167115be69a79f3a01e524cf29caff2a57165
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-1.obj
@@ -0,0 +1,6399 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-2.mtl b/assets/bi-dexhands/cup/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aaf55df5685779148ce51da50997686d473981a7
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0.4
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/bi-dexhands/cup/textured_objs/original-2.obj b/assets/bi-dexhands/cup/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0b7115d808de3463fddf00ba6651743bdff559
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-2.obj
@@ -0,0 +1,16107 @@
+# SSTK version 0.8.0
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-4.mtl b/assets/bi-dexhands/cup/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-4.obj b/assets/bi-dexhands/cup/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5522e83e2b0f5b4f21a0d97436a6d1c4f96ff6a1
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-4.obj
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-5.mtl b/assets/bi-dexhands/cup/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aaf55df5685779148ce51da50997686d473981a7
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-5.obj b/assets/bi-dexhands/cup/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493aea4f864d1f7a896f579cfca0dba56b71cf87
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-5.obj
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diff --git a/assets/bi-dexhands/cup/textured_objs/original-6.mtl b/assets/bi-dexhands/cup/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/bi-dexhands/cup/textured_objs/original-6.obj b/assets/bi-dexhands/cup/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89c1230a7b806e621dae8e5014b2a766b5e4415
--- /dev/null
+++ b/assets/bi-dexhands/cup/textured_objs/original-6.obj
@@ -0,0 +1,11995 @@
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diff --git a/assets/bi-dexhands/pen/bounding_box.json b/assets/bi-dexhands/pen/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8daef6147e9cf2ac7e51946377bd07f8c4047697
--- /dev/null
+++ b/assets/bi-dexhands/pen/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.058483, -0.859023, -0.063304], "max": [0.055921, 0.999786, 0.116209]}
\ No newline at end of file
diff --git a/assets/bi-dexhands/pen/meta.json b/assets/bi-dexhands/pen/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfada7833cd456b793253b5dc72837ed9ae3e459
--- /dev/null
+++ b/assets/bi-dexhands/pen/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Pen", "model_id": "59a07a01d7c3fdb03c1d9add3a87bd2d", "version": "1", "anno_id": "2939", "time_in_sec": "20"}
\ No newline at end of file
diff --git a/assets/bi-dexhands/pen/mobility.urdf b/assets/bi-dexhands/pen/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8c47a52a68fc6b329ba66c93763858517007fe1
--- /dev/null
+++ b/assets/bi-dexhands/pen/mobility.urdf
@@ -0,0 +1,248 @@
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diff --git a/assets/bi-dexhands/pen/mobility_v2.json b/assets/bi-dexhands/pen/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bc2f001668215424ae0759f04ea85f51fa6a8de
--- /dev/null
+++ b/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": {}}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/pen/result.json b/assets/bi-dexhands/pen/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..934359bcc7a4c7c496ef711998f1fbe578e00a38
--- /dev/null
+++ b/assets/bi-dexhands/pen/result.json
@@ -0,0 +1 @@
+[{"text": "Pen", "name": "Pen", "id": 0, "children": [{"text": "cap", "name": "cap", "id": 1, "objs": ["original-14", "original-17", "original-11"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-18", "original-12", "original-7", "original-1", "original-10", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/bi-dexhands/pen/semantics.txt b/assets/bi-dexhands/pen/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32497e7911240b150cbabde0b47fa8825f14ad7f
--- /dev/null
+++ b/assets/bi-dexhands/pen/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider cap
+link_1 free pen_body
diff --git a/assets/bi-dexhands/pen/textured_objs/original-1.mtl b/assets/bi-dexhands/pen/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8958dc6bb1d286b8ded70208d9d673087fa6fa66
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
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+
diff --git a/assets/bi-dexhands/pen/textured_objs/original-1.obj b/assets/bi-dexhands/pen/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7989cc7f3acef270bd638c08b8222cb9a8b925
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-1.obj
@@ -0,0 +1,1816 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-10.mtl b/assets/bi-dexhands/pen/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..565f52ff4de356f002da78a9af0d7d61a31ef545
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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+newmtl material_1_0
+illum 3
+d 1
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-10.obj b/assets/bi-dexhands/pen/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6435ebbcd21349bbb4c6f124b97b197d0525b1d1
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-10.obj
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-11.mtl b/assets/bi-dexhands/pen/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a44663cc2cf04dca4609f0bfa33238c247591c2e
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-11.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-11.obj b/assets/bi-dexhands/pen/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1ba3d4840a306f562066fadb5d4a470df16b61
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-11.obj
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-12.mtl b/assets/bi-dexhands/pen/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ade57b3ed5aa13f450aeae9087f4695a4bf052e1
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-12.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-12.obj b/assets/bi-dexhands/pen/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd76d537f40304cf0a6495fe463826b3fe8e54a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-12.obj
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-13.mtl b/assets/bi-dexhands/pen/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ade57b3ed5aa13f450aeae9087f4695a4bf052e1
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-13.mtl
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+newmtl material_0_0
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-13.obj b/assets/bi-dexhands/pen/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c4d4f201c50b8e54265669356b4cf904d48940
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-13.obj
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-14.mtl b/assets/bi-dexhands/pen/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e49dffc98bb477649e45443374d46b9a69a3b3a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-14.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-14.obj b/assets/bi-dexhands/pen/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3204e23feb16709f4abf04d373b438719b74a7
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-14.obj
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-15.mtl b/assets/bi-dexhands/pen/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-15.obj b/assets/bi-dexhands/pen/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e845a8b0f01e433d5c280324cd2d54d6f84585
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-16.mtl b/assets/bi-dexhands/pen/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-16.obj b/assets/bi-dexhands/pen/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f01ee787b19bb1b03a1eebc5384ee26f6158a99
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-17.mtl b/assets/bi-dexhands/pen/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-17.obj b/assets/bi-dexhands/pen/textured_objs/original-17.obj
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index 0000000000000000000000000000000000000000..a54b695033c3c936943acd49804e990d99e6d4b0
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-18.mtl b/assets/bi-dexhands/pen/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-18.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-18.obj b/assets/bi-dexhands/pen/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2349a3981c7471a6bebb87de7585a8842f79c92
--- /dev/null
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-19.mtl b/assets/bi-dexhands/pen/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-19.obj b/assets/bi-dexhands/pen/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d374d8e219337ef765030b3620e7f69ca43ef43
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-19.obj
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+# SSTK version 0.8.0
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+mtllib original-19.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-2.mtl b/assets/bi-dexhands/pen/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-2.obj b/assets/bi-dexhands/pen/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b37466258f0e3e6807a5dc9e32efc3ac5530054
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-2.obj
@@ -0,0 +1,215 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-3.mtl b/assets/bi-dexhands/pen/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/bi-dexhands/pen/textured_objs/original-3.obj b/assets/bi-dexhands/pen/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18123c3226e336af503f680bd38e6acc81086215
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-3.obj
@@ -0,0 +1,183 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-4.mtl b/assets/bi-dexhands/pen/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/bi-dexhands/pen/textured_objs/original-4.obj b/assets/bi-dexhands/pen/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a77c65176177773e34bf12031edd725e0d5028
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-4.obj
@@ -0,0 +1,799 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-5.mtl b/assets/bi-dexhands/pen/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-5.obj b/assets/bi-dexhands/pen/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d254b177231d32301b3558c305e9777fdf4ff4b9
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-5.obj
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-6.mtl b/assets/bi-dexhands/pen/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-6.obj b/assets/bi-dexhands/pen/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef66c45a58863aa727203cf1b742ab94ef200876
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-6.obj
@@ -0,0 +1,183 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-7.mtl b/assets/bi-dexhands/pen/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-7.obj b/assets/bi-dexhands/pen/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2970dcb2e892ca5a9b13fb74ab94b89c389f42cb
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-7.obj
@@ -0,0 +1,183 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-8.mtl b/assets/bi-dexhands/pen/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-8.obj b/assets/bi-dexhands/pen/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c9ed17d0c7ab014806e1083d63f8159f7db8e8
--- /dev/null
+++ b/assets/bi-dexhands/pen/textured_objs/original-8.obj
@@ -0,0 +1,183 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..565f52ff4de356f002da78a9af0d7d61a31ef545
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diff --git a/assets/bi-dexhands/pen/textured_objs/original-9.obj b/assets/bi-dexhands/pen/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..1a428788db8743fc2ea191c87491ab939aa2788e
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new file mode 100644
index 0000000000000000000000000000000000000000..89b8e4f2f73dd0a948d29232e4adcaa0a938bfa1
--- /dev/null
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diff --git a/assets/local_bottle_cap/bottle_cap.xml b/assets/local_bottle_cap/bottle_cap.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aaa0f63c1ef004bc2fe13ccfe92bfe6b1be66762
--- /dev/null
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