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--- /dev/null
+++ b/assets/bidex/objects/urdf/meshes/switch/original-7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24f8b3daf4c218ad3ebcd3c16b33201f28b80f09ce40b7393e77b842286b6cc
+size 45984
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-8.mtl b/assets/bidex/objects/urdf/meshes/switch/original-8.mtl
new file mode 100755
index 0000000000000000000000000000000000000000..64660211b6cc4bc77c88a5be5dc24f98b91a7e75
--- /dev/null
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@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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diff --git a/assets/bidex/objects/urdf/meshes/switch/original-8.obj b/assets/bidex/objects/urdf/meshes/switch/original-8.obj
new file mode 100755
index 0000000000000000000000000000000000000000..59376239eeccc0272f225b61ce8a0eadeab0ce76
--- /dev/null
+++ b/assets/bidex/objects/urdf/meshes/switch/original-8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a7376b57abf26dd4b3341d317a0d8061c91a1a95ef813d41d32615e6ee94f5
+size 17460
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-9.mtl b/assets/bidex/objects/urdf/meshes/switch/original-9.mtl
new file mode 100755
index 0000000000000000000000000000000000000000..dc312b70a50b5b68348aebb42f17be46de94cff0
--- /dev/null
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-9.obj b/assets/bidex/objects/urdf/meshes/switch/original-9.obj
new file mode 100755
index 0000000000000000000000000000000000000000..3ac400898816300c5f97373415225770d32342fe
--- /dev/null
+++ b/assets/bidex/objects/urdf/meshes/switch/original-9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5e3d13998abfcce86814aaaafafc9e548b0d6b229fb5613c14cbcad2ef68c6
+size 6618
diff --git a/assets/bidex/objects/urdf/pen_mobility.urdf b/assets/bidex/objects/urdf/pen_mobility.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..121a1ce3aaec0e513c6f14530fca189d03479728
--- /dev/null
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diff --git a/assets/bidex/objects/urdf/pot_mobility.urdf b/assets/bidex/objects/urdf/pot_mobility.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..a50456f7f6d0a866b16c06de47ac9d2d2974da53
--- /dev/null
+++ b/assets/bidex/objects/urdf/pot_mobility.urdf
@@ -0,0 +1,293 @@
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diff --git a/assets/bidex/objects/urdf/scissor_mobility.urdf b/assets/bidex/objects/urdf/scissor_mobility.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..0f7297102da853d8d237d44affd1b5cad5b29502
--- /dev/null
+++ b/assets/bidex/objects/urdf/scissor_mobility.urdf
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diff --git a/assets/bidex/objects/urdf/switch_mobility.urdf b/assets/bidex/objects/urdf/switch_mobility.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..f0e95513a4eb0fa9d4b9d0464ab5831c063976a2
--- /dev/null
+++ b/assets/bidex/objects/urdf/switch_mobility.urdf
@@ -0,0 +1,116 @@
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diff --git a/assets/bidex/objects/usd/.asset_hash b/assets/bidex/objects/usd/.asset_hash
new file mode 100755
index 0000000000000000000000000000000000000000..7de7008c3449520720db0b83d5d3a1b8413f2b7a
--- /dev/null
+++ b/assets/bidex/objects/usd/.asset_hash
@@ -0,0 +1 @@
+88aef84002e5d0dd552f6bb2d25586a4
\ No newline at end of file
diff --git a/assets/bidex/objects/usd/ball.usd b/assets/bidex/objects/usd/ball.usd
new file mode 100755
index 0000000000000000000000000000000000000000..ca6414eb938a2a0e71d43dd9ea995af596331b09
--- /dev/null
+++ b/assets/bidex/objects/usd/ball.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfd558a8efa6dbf41875eab26a7903f5ffec2eee10304564fca5b2d5b25bb008
+size 2406
diff --git a/assets/bidex/objects/usd/config.yaml b/assets/bidex/objects/usd/config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..b24e9bf8314b906ebe1dff66b960fd2310b9d1b5
--- /dev/null
+++ b/assets/bidex/objects/usd/config.yaml
@@ -0,0 +1,18 @@
+asset_path: /home/test/RoboVerse/roboverse_data/assets/bidex/objects/ball.urdf
+usd_dir: /home/test/RoboVerse/roboverse_data/assets/bidex/objects/usd
+usd_file_name: ball.usd
+force_usd_conversion: true
+make_instanceable: false
+import_inertia_tensor: true
+fix_base: true
+merge_fixed_joints: true
+self_collision: false
+default_drive_type: none
+override_joint_dynamics: false
+default_drive_stiffness: 0.0
+default_drive_damping: 0.0
+link_density: 0.0
+convex_decompose_mesh: false
+##
+# Generated by UrdfConverter on 2025-06-25 at 08:58:41.
+##
diff --git a/assets/bidex/objects/usd/cube_goal_multicolor.usd b/assets/bidex/objects/usd/cube_goal_multicolor.usd
new file mode 100755
index 0000000000000000000000000000000000000000..edb876c89361095aaa9ee905127471d63b4a0abe
--- /dev/null
+++ b/assets/bidex/objects/usd/cube_goal_multicolor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f72776a0c483fcc0cf4ed6d62f88f69d1de96d9d4385323ccef699f98f7ca2
+size 4893
diff --git a/assets/bidex/objects/usd/cube_multicolor.usd b/assets/bidex/objects/usd/cube_multicolor.usd
new file mode 100755
index 0000000000000000000000000000000000000000..e77f58db982f23fdaab1ebe374e5c94e35196f43
--- /dev/null
+++ b/assets/bidex/objects/usd/cube_multicolor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc306caddc722f28138beef117ebf95a13f1db996391cd2aeabe73461848b63
+size 4881
diff --git a/assets/bidex/objects/usd/cube_multicolor1.usd b/assets/bidex/objects/usd/cube_multicolor1.usd
new file mode 100755
index 0000000000000000000000000000000000000000..c48dfc0e29860825157e3fdcc3b841637a4c6dab
--- /dev/null
+++ b/assets/bidex/objects/usd/cube_multicolor1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac70cae20442567d67ab4b447df03601532cc2d1ef005d414d09e2e0cfacb96
+size 4887
diff --git a/assets/bidex/open_ai_assets/LICENSE.md b/assets/bidex/open_ai_assets/LICENSE.md
new file mode 100755
index 0000000000000000000000000000000000000000..22ce9010d0b834098905c5b631e780723def824f
--- /dev/null
+++ b/assets/bidex/open_ai_assets/LICENSE.md
@@ -0,0 +1,222 @@
+# Fetch Robotics
+The model of the [Fetch](http://fetchrobotics.com/platforms-research-development/) is based on [models provided by Fetch](https://github.com/fetchrobotics/fetch_ros/tree/indigo-devel/fetch_description). It was adapted and refined by OpenAI.
+
+# ShadowHand
+The model of the [ShadowHand](https://www.shadowrobot.com/products/dexterous-hand/) is based on [models provided by ShadowRobot](https://github.com/shadow-robot/sr_common/tree/kinetic-devel/sr_description/hand/model), and on code used under the following license:
+
+(C) Vikash Kumar, CSE, UW. Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
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+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+Additional license notices:
+
+ Sources : 1) Manipulator and Manipulation in High Dimensional Spaces. Vikash Kumar, Ph.D. Thesis, CSE, Univ. of Washington. 2016.
+
+ Mujoco :: Advanced physics simulation engine
+ Source : www.roboti.us
+ Version : 1.40
+ Released : 17Jan'17
+
+ Author :: Vikash Kumar
+ Contacts : vikash@openai.com
+ Last edits : 3Apr'17
diff --git a/assets/bidex/open_ai_assets/README.md b/assets/bidex/open_ai_assets/README.md
new file mode 100755
index 0000000000000000000000000000000000000000..f8eb2ec6b80d9945ec5426b76c6ba6561de8693c
--- /dev/null
+++ b/assets/bidex/open_ai_assets/README.md
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+All asset and LICENSE.md copied from repo: https://github.com/isaac-sim/IsaacGymEnvs/tree/main/assets/mjcf/open_ai_assets
\ No newline at end of file
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new file mode 100755
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