Untitled

import os

from mujoco_py import load_model_from_xml, MjSim, MjViewer

dir_path = os.path.dirname(os.path.realpath(__file__))

MODEL_XML = """
<?xml version="1.0" ?>
<mujoco>
    <asset>
        <texture builtin="flat" name="object_tex" height="32" width="32" rgb1="1 1 1" type="cube"></texture>
        <material name="object_mat" shininess="0.03" specular="0.75" texture="object_tex"></material>
        <mesh file="%s/mesh.stl" name="mesh_name"></mesh>
    </asset>

    <worldbody>
        <body name="object" pos="0 0 0">
            <geom type='mesh' pos="0 0 0" mesh="mesh_name" name="geom_name" material="object_mat"/>
        </body>
    </worldbody>
</mujoco>
""" % dir_path

model = load_model_from_xml(MODEL_XML)
sim = MjSim(model)
viewer = MjViewer(sim)
step = 0
while True:
    for vert in model.mesh_vert:
        viewer.add_marker(pos=vert, rgba=[0.0, 0.5, 0.5, 1.0],
                          size=[0.003, 0.003, 0.003])
    viewer.render()