# 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
```