Convert STL to MSH

The MSH format used in MuJoCo seems to be not the same MSH format in gmsh tool. Is it correct?
Then how to convert STL file into MSH file?
Attached a simple cube.stl as an example.

 

But you can use both STL and MSH files: http://www.mujoco.org/book/XMLreference.html#mesh
There is no need for conversion.

 

You are right, but I want to create a test with small binary MSH file and would like to make this conversion to keep MSH file small.
What utilities/tools exist to work with this format? An utility to convert STL to MSH? Is it possible to visualize MSH file without including it in MJCF file?

 

Hi David, were you able to load the msh meshes? I am facing the same issue.