Hello everyone, is there any way to access the convex hull generated by MuJoCo of an imported mesh? I am aware of the mesh_* fields in mjModel, but I think they represent the imported mesh (is that correct?). I am also aware of nmeshgraph, mesh_graph ("// convex graph data") and mesh_graphadr, but I don't know exactly what they represent and how they are formatted. Ideally I would like to iterate over the faces (triangles) of the convex hull of a mesh/geom, and access the respective vertices / vertex indices. Thanks for any help and best regards, Rainer Kartmann