I am working on a project that uses Mujoco as a general physics/graphics engine to understand real world scanned 3D scene. 1. I have a simple question: how can I import a mesh into the Mojoco engine? Vikash gave me a hint that I may try something like this: <geom name="apple" class="0" type="mesh" mesh="apple.stl" pos="0.3 -.2 .5"/> But Mujoco keep showing errors: Error: mesh 'apple.stl' not found in geom 1 Object name = apple, id = 1, line = 38, column = 9 I've put everything in a same folder, I do not think it's file path problem. Here is the model I tried: an CAD apple https://www.dropbox.com/s/qwyltlrfjojvebe/apple.stl?dl=0 2. Ultimately, I want to import scanned 3D objects with associated texture like this: a scanned 3D model https://www.dropbox.com/s/he86gsbtef676cx/cylinder.zip?dl=0 So I also request a new feature of importing a ".obj" mesh. There are public c/c++ ".obj" parsers available. Thank you!