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README.md

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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](../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
-```