create model.urdf for every objects inside google_16k that loads the object. These .urdf paths need to be passed to Isaac Gym to load the models.

add_urdf_loader.py

@@ -0,0 +1,46 @@
+import os
+
+# Directory where subdirectories are located
+base_dir = '.'
+
+# Get all subdirectory names in the base directory
+subdirectories = [name for name in os.listdir(base_dir) if os.path.isdir(os.path.join(base_dir, name))]
+
+# Iterate through each subdirectory
+for subdir in subdirectories:
+    # Define the path to the URDF file
+    urdf_file = os.path.join(base_dir, subdir, 'google_16k', 'model.urdf')
+    
+    # Create the URDF content
+    urdf_content = f'''<robot name="{subdir}">
+  <link name="link">
+    <inertial>
+      <origin xyz="0.0 0.0 0.0"  rpy="0.0 0.0 0.0"/>
+      <mass value="0.3" />
+      <inertia  ixx="6.9144774308701545e-06" ixy="1.0257828334065293e-08"  ixz="-1.590110554892427e-09"  iyy="6.8933748177717795e-06"  iyz="-6.199552338721599e-09"  izz="7.782976960493179e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0.0 0.0 0.0"  rpy="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="nontextured_proc.stl" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"  rpy="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="nontextured_proc.stl" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
+'''
+    
+    # Write the URDF content to the file
+    os.makedirs(os.path.dirname(urdf_file), exist_ok=True)
+    with open(urdf_file, 'w') as f:
+        f.write(urdf_content)
+    
+    print(f'Created URDF file for {subdir}.')
+
+print('Task completed.')
+