diff --git a/PiperUnscrewCap/PiperUnscrewCap.zip b/PiperUnscrewCap/PiperUnscrewCap.zip
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diff --git a/PiperUnscrewCap/metadata.yaml b/PiperUnscrewCap/metadata.yaml
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+++ b/PiperUnscrewCap/metadata.yaml
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+Name: Piper Unscrew Cap
+Category: Examples
+Description: Example of 2 piper robots unscrewing a bottle cap from a bottle. Bottle and cap are created through an sdf plugin similar to nut and bolt in mujoco.
+Tags:
+  - piper
+  - bottle
+  - sdf
+  - unscrew
+  - example
+RequiredContent:
+  - Piper
+Files:
+  - PiperUnscrewCap/Bottle.hscene
+  - PiperUnscrewCap/Bottle.hzr
+  - PiperUnscrewCap/Materials/M_Scoreboard.hmaterial
+  - PiperUnscrewCap/Materials/M_TimerBoard.hmaterial
+  - PiperUnscrewCap/Materials/M_WoodFloor_01.hmaterial
+  - PiperUnscrewCap/Materials/ScoreBoard_base_BaseColor.png
+  - PiperUnscrewCap/Materials/ScoreBoard_base_BaseColor2.png
+  - PiperUnscrewCap/Materials/ScoreBoard_base_BaseColor3.png
+  - PiperUnscrewCap/Materials/ScoreBoard_base_BaseColor4.png
+  - PiperUnscrewCap/Materials/ScoreBoard_base_Metal.png
+  - PiperUnscrewCap/Materials/ScoreBoard_base_Normal.png
+  - PiperUnscrewCap/Materials/ScoreBoard_base_Roughness.png
+  - PiperUnscrewCap/Materials/T_AI_vol8_05_wood_06_BC.png
+  - PiperUnscrewCap/Materials/T_AI_vol8_05_wood_06_N.png
+  - PiperUnscrewCap/Materials/T_AI_vol8_05_wood_06_R.png
+  - PiperUnscrewCap/Materials/lake_pier_4k_hue.hdr
+  - PiperUnscrewCap/Meshes/SM_Dining_Table.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Lamp_01.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Painting_03.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Room_01.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Room_01_Shell.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Rug_01.hsmesh
+  - PiperUnscrewCap/Meshes/SM_ShelfDetritis_02.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Shelf_02.hsmesh
+  - PiperUnscrewCap/Meshes/SM_Shelf_04.hsmesh
+  - PiperUnscrewCap/Meshes/ScoreBoard.hsmesh
+  - PiperUnscrewCap/Meshes/TimerBoard.hsmesh
+  - PiperUnscrewCap/Meshes/bottle_w_inside.hsmesh
+  - PiperUnscrewCap/Misc/Bottle_2Piper.xml
+  - PiperUnscrewCap/Misc/MG_2Piper.hmograph
+  - PiperUnscrewCap/Models/SM_Dining_Table.glb
+  - PiperUnscrewCap/Models/SM_Lamp_01.glb
+  - PiperUnscrewCap/Models/SM_Painting_03.glb
+  - PiperUnscrewCap/Models/SM_Room_01.glb
+  - PiperUnscrewCap/Models/SM_Room_01_Shell.glb
+  - PiperUnscrewCap/Models/SM_Rug_01.glb
+  - PiperUnscrewCap/Models/SM_ShelfDetritis_02.glb
+  - PiperUnscrewCap/Models/SM_Shelf_02.glb
+  - PiperUnscrewCap/Models/SM_Shelf_04.glb
+  - PiperUnscrewCap/Models/ScoreBoard.glb
+  - PiperUnscrewCap/Models/TimerBoard.glb
+  - PiperUnscrewCap/Models/bottle_w_inside.obj
+  - PiperUnscrewCap/Models/cap.obj
+  - PiperUnscrewCap/Scripts/PiperUnscrewCap.cs
\ No newline at end of file
diff --git a/PiperUnscrewCap/thumbnail.PNG b/PiperUnscrewCap/thumbnail.PNG
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