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I have tried to explore https://github.com/polkascan/py-substrate-interface, but didn't find any example, so I am wondering if I want to send asset like USDT from statemine parachain to another parachain?

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You don't need a bridge at all, Polkadot includes a message transport protocol for its parachains. I'd check out Subscan's XCM explorer to look at examples of asset transfers and how those transactions are constructed. For example, here is a transfer of some USDT from Statemine to Moonriver.

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Like Joe is saying, you need to open HRMP channels and then send an XCM. You can see the actual XCM Joe referenced here:

More info here:

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