How to convert CAD to Mujoco model?

Hey guys, I have been trying to convert my CAD file into Mujoco, so I can realistically simulate and train the exact robot.

It’s been difficult because step file doesnt have all the information Mujoco needs, and the whole process is very manual & frustrating.

Is there another way to do this right?

Thanks.

For context, I’m using Onshape, but open to other workflow suggestions as I will be building and training robots a lot. I want to prioritize for iteration speed.