OK, so I'm re-posting this thread here to hopefully get some attention... I've been trying to visualize mujoco simulations externally and have encountered several problems. In http://www.mujoco.org/book/modeling.html#mesh it is said that translational and rotational offsets used to center and align the meshes are saved, but it seems that they're not exposed through the API (or I haven't found it). I've tried to calculate those values myself but did not succeed. Is there a way in which I can obtain that information directly from mujoco? If not, what should I be careful about when I calculate it myself? Here's a link to my original post: http://www.mujoco.org/forum/index.php?threads/using-loaded-meshes-for-external-visualization.3811/ Any help would be appreciated.