tabletop/scene_ur5e_objects.xml

<mujoco model="Scanned Objects">

    <!-- Default options -->
    <compiler angle="radian" assetdir="./mesh" autolimits="true" />
    <option integrator="RK4" noslip_iterations="20" />
    <default>
        <joint armature="0.1" damping="0.1" />
        <default class="visual_only">
            <!-- visual group of 'collision' of 2 is to render -->
            <!-- All geoms with contype⁠=⁠conaffinity⁠=0 are discarded -->
            <geom type="mesh" contype="0" conaffinity="0" group="2" />
        </default>
        <default class="visual_collision">
            <!-- visual group of 'collision' of 2 is to render -->
            <geom type="mesh" solimp=".9 .99 .001" solref=".015 1" group="2" />
        </default>
        <default class="no_visual_collision">
            <!-- visual group of 'collision' of 3 is NOT to render -->
            <geom type="capsule" solimp=".9 .99 .001" solref=".015 1" group="3" />
        </default>
    </default>

    <!-- Sky and floor -->
    <include file="./object/floor_isaac_style.xml" />

    <!-- Table -->
    <include file="./object/object_table.xml" />

    <!-- UR52 -->
    <include file="./object/ur5e_rg2.xml" />

    <!-- Objects to pick -->
    <include file="./object/obj_pringles.xml" />
    <include file="./object/obj_coke.xml" />
    <include file="./object/obj_redbull.xml" />
    <include file="./object/obj_orange.xml" />
    <include file="./object/obj_apple.xml" />
    
</mujoco>