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1c8e966 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | # Dexrobot Simulation Assets
Converted simulation assets for Dexrobot hands in multiple formats (URDF/USD/MJCF).
## Overview
This repository contains processed simulation assets generated from the source URDF files. Each robot model includes:
- **urdf/**: URDF format with 6-DOF floating base
- **usd/**: USD format for Isaac Sim
- **mjcf/**: MJCF format for MuJoCo
- **cfgs/**: Python configuration files for metasim
## Structure
```
dexrobot_sim_assets/
├── dexhand021_left_simplified/
│ ├── cfgs/
│ │ ├── dexhand021_left_simplified_base_cfg.py
│ │ └── dexhand021_left_simplified_cfg.py
│ ├── urdf/
│ │ ├── dexhand021_left_simplified.urdf
│ │ └── meshes/
│ ├── usd/
│ │ └── dexhand021_left_simplified.usd
│ └── mjcf/
│ ├── dexhand021_left_simplified.xml
│ └── meshes/
└── dexhand021_right_simplified/
└── ...
```
## Generation
These assets are auto-generated using the [urdf_conv](../urdf_conv) conversion pipeline.
To regenerate:
```bash
cd urdf_conv
python batch_convert_urdf.py urdf_conversion_config.toml
```
## Usage
Import the configuration in your simulation code:
```python
from dexrobot_sim_assets.dexhand021_left_simplified.cfgs.dexhand021_left_simplified_cfg import Dexhand021LeftSimplifiedCfg
```
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