Tooling To Create Environment

I’m curious about best practices and tooling in environment creation.

Specifically, I’m trying to create an environment in which a UR5 robot arm manipulates multiple objects on a counter top.

Given that we cannot import USD files in Isaac Gym, how is it recommended that I go about creating the described environment?

Please tell me how I can improve my current way of going about it:

  • For each non-robot object in the environment create MJCF files in an XML editor, iterating and making changes after reviewing their render via mujoco-py
  • Import all MJCF files (plus UR5 USDF file), and set their position, pose, and orientation, iterating by reviewing their render via Gym.create_viewer

Is there any tooling that can improve this workflow?