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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 conversion pipeline.

To regenerate:

cd urdf_conv
python batch_convert_urdf.py urdf_conversion_config.toml

Usage

Import the configuration in your simulation code:

from dexrobot_sim_assets.dexhand021_left_simplified.cfgs.dexhand021_left_simplified_cfg import Dexhand021LeftSimplifiedCfg

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