[ali_m]

If you can turn it into a collection of STL or MSH files then you can simulate it in MuJoCo. There are some caveats - MuJoCo will use the convex hull of the mesh for collisions, so if you want to accurately simulate collisions with concave features then you'll need to split your mesh into convex submeshes (there are various third party tools that can automate this). Sometimes you need to tweak the mesh geometry a bit in order to get the right contact behaviour, and in some cases it's easier to use primitives for key collision geometry and just use the meshes for visualisation.