I want to use ycb dataset in mujoco with texture. And I already saw the person who is achieved to convert original obj file to msh file and load them in mujoco So I convert textured.obj to textured.msh file using gmsh program. Then I put that file instead of stl location in xml file ( <mesh file="/textured.msh" ......></mesh>) but it didn't work with this issue Traceback (most recent call last): File "UR5_test.py", line 141, in <module> main() File "UR5_test.py", line 15, in main model = load_model_from_path("/home/sunin/.mujoco/mujoco-py/xmls/UR5+gripper/UR5gripper.xml") File "mujoco_py/cymj.pyx", line 175, in mujoco_py.cymj.load_model_from_path Exception: Failed to load XML file: /home/sunin/.mujoco/mujoco-py/xmls/UR5+gripper/UR5gripper.xml. mj_loadXML error: b"Error: invalid sizes in MSH file '/home/sunin/.mujoco/mujoco-py/xmls/ycb_dataset_mujoco/011_banana/google_16k/banana2sized.msh'\nObject name = banana, id = 0, line = 54, column = 9" I'm looking for several methods but I can't deal with it. Please help me to load this model with texture. And I also want to know how to generate texture.png to apply texture on model(direction or size etc.)