diff --git a/packages/dashboard/package.json b/packages/dashboard/package.json
index fe63611c0..5e69ff60c 100644
--- a/packages/dashboard/package.json
+++ b/packages/dashboard/package.json
@@ -79,7 +79,8 @@
     "rmf-auth": "workspace:*",
     "rmf-models": "workspace:*",
     "rxjs": "^7.5.5",
-    "three": "^0.156.1"
+    "three": "^0.156.1",
+    "three-mtl-loader": "^1.0.2"
   },
   "devDependencies": {
     "@babel/core": "^7.18.6",
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
index 3e1595d3c..b13c7cdc0 100644
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
@@ -1,5 +1,9 @@
 lockfileVersion: '6.0'
 
+settings:
+  autoInstallPeers: true
+  excludeLinksFromLockfile: false
+
 importers:
 
   .:
@@ -209,6 +213,9 @@ importers:
       three:
         specifier: ^0.156.1
         version: 0.156.1
+      three-mtl-loader:
+        specifier: ^1.0.2
+        version: 1.0.2
     devDependencies:
       '@babel/core':
         specifier: ^7.18.6
@@ -2813,6 +2820,46 @@ packages:
       - utf-8-validate
     dev: true
 
+  /@jest/core@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-xvV1kKbhfUqFVuZ8Cyo+JPpipAHHAV3kcDBftiduK8EICXmTFddryy3P7NfZt8Pv37rA9nEJBKCCkglCPt/Xjw==}
+    engines: {node: '>= 10.14.2'}
+    dependencies:
+      '@jest/console': 26.6.2
+      '@jest/reporters': 26.6.2
+      '@jest/test-result': 26.6.2
+      '@jest/transform': 26.6.2
+      '@jest/types': 26.6.2
+      '@types/node': 18.0.3
+      ansi-escapes: 4.3.2
+      chalk: 4.1.2
+      exit: 0.1.2
+      graceful-fs: 4.2.10
+      jest-changed-files: 26.6.2
+      jest-config: 26.6.3(ts-node@9.1.1)
+      jest-haste-map: 26.6.2
+      jest-message-util: 26.6.2
+      jest-regex-util: 26.0.0
+      jest-resolve: 26.6.2
+      jest-resolve-dependencies: 26.6.3
+      jest-runner: 26.6.3(ts-node@9.1.1)
+      jest-runtime: 26.6.3(ts-node@9.1.1)
+      jest-snapshot: 26.6.2
+      jest-util: 26.6.2
+      jest-validate: 26.6.2
+      jest-watcher: 26.6.2
+      micromatch: 4.0.5
+      p-each-series: 2.2.0
+      rimraf: 3.0.2
+      slash: 3.0.0
+      strip-ansi: 6.0.1
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - ts-node
+      - utf-8-validate
+    dev: true
+
   /@jest/environment@26.6.2:
     resolution: {integrity: sha512-nFy+fHl28zUrRsCeMB61VDThV1pVTtlEokBRgqPrcT1JNq4yRNIyTHfyht6PqtUvY9IsuLGTrbG8kPXjSZIZwA==}
     engines: {node: '>= 10.14.2'}
@@ -2928,6 +2975,23 @@ packages:
       - utf-8-validate
     dev: true
 
+  /@jest/test-sequencer@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-YHlVIjP5nfEyjlrSr8t/YdNfU/1XEt7c5b4OxcXCjyRhjzLYu/rO69/WHPuYcbCWkz8kAeZVZp2N2+IOLLEPGw==}
+    engines: {node: '>= 10.14.2'}
+    dependencies:
+      '@jest/test-result': 26.6.2
+      graceful-fs: 4.2.10
+      jest-haste-map: 26.6.2
+      jest-runner: 26.6.3(ts-node@9.1.1)
+      jest-runtime: 26.6.3(ts-node@9.1.1)
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - ts-node
+      - utf-8-validate
+    dev: true
+
   /@jest/transform@26.6.2:
     resolution: {integrity: sha512-E9JjhUgNzvuQ+vVAL21vlyfy12gP0GhazGgJC4h6qUt1jSdUXGWJ1wfu/X7Sd8etSgxV4ovT1pb9v5D6QW4XgA==}
     engines: {node: '>= 10.14.2'}
@@ -6893,6 +6957,7 @@ packages:
   /array-find-index@1.0.2:
     resolution: {integrity: sha512-M1HQyIXcBGtVywBt8WVdim+lrNaK7VHp99Qt5pSNziXznKHViIBbXWtfRTpEFpF/c4FdfxNAsCCwPp5phBYJtw==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -7524,6 +7589,7 @@ packages:
   /big-integer@1.6.51:
     resolution: {integrity: sha512-GPEid2Y9QU1Exl1rpO9B2IPJGHPSupF5GnVIP0blYvNOMer2bTvSWs1jGOUg04hTmu67nmLsQ9TBo1puaotBHg==}
     engines: {node: '>=0.6'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -7637,6 +7703,7 @@ packages:
 
   /bplist-parser@0.1.1:
     resolution: {integrity: sha512-2AEM0FXy8ZxVLBuqX0hqt1gDwcnz2zygEkQ6zaD5Wko/sB9paUNwlpawrFtKeHUAQUOzjVy9AO4oeonqIHKA9Q==}
+    requiresBuild: true
     dependencies:
       big-integer: 1.6.51
     dev: true
@@ -8021,6 +8088,7 @@ packages:
   /camelcase-keys@2.1.0:
     resolution: {integrity: sha512-bA/Z/DERHKqoEOrp+qeGKw1QlvEQkGZSc0XaY6VnTxZr+Kv1G5zFwttpjv8qxZ/sBPT4nthwZaAcsAZTJlSKXQ==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       camelcase: 2.1.1
       map-obj: 1.0.1
@@ -8038,6 +8106,7 @@ packages:
   /camelcase@2.1.1:
     resolution: {integrity: sha512-DLIsRzJVBQu72meAKPkWQOLcujdXT32hwdfnkI1frSiSRMK1MofjKHf+MEx0SB6fjEFXL8fBDv1dKymBlOp4Qw==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -9223,6 +9292,7 @@ packages:
   /currently-unhandled@0.4.1:
     resolution: {integrity: sha512-/fITjgjGU50vjQ4FH6eUoYu+iUoUKIXws2hL15JJpIR+BbTxaXQsMuuyjtNh2WqsSBS5nsaZHFsFecyw5CCAng==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       array-find-index: 1.0.2
     dev: true
@@ -11448,6 +11518,7 @@ packages:
   /get-stdin@4.0.1:
     resolution: {integrity: sha512-F5aQMywwJ2n85s4hJPTT9RPxGmubonuB10MNYo17/xph174n2MIR33HRguhzVag10O/npM7SPk73LMZNP+FaWw==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -11711,6 +11782,7 @@ packages:
 
   /growly@1.3.0:
     resolution: {integrity: sha512-+xGQY0YyAWCnqy7Cd++hc2JqMYzlm0dG30Jd0beaA64sROr8C4nt8Yc9V5Ro3avlSUDTN0ulqP/VBKi1/lLygw==}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -12315,6 +12387,7 @@ packages:
   /indent-string@2.1.0:
     resolution: {integrity: sha512-aqwDFWSgSgfRaEwao5lg5KEcVd/2a+D1rvoG7NdilmYz0NwRk6StWpWdz/Hpk34MKPpx7s8XxUqimfcQK6gGlg==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       repeating: 2.0.1
     dev: true
@@ -12630,6 +12703,7 @@ packages:
   /is-finite@1.1.0:
     resolution: {integrity: sha512-cdyMtqX/BOqqNBBiKlIVkytNHm49MtMlYyn1zxzvJKWmFMlGzm+ry5BBfYyeY9YmNKbRSo/o7OX9w9ale0wg3w==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -13118,6 +13192,32 @@ packages:
       - utf-8-validate
     dev: true
 
+  /jest-cli@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-GF9noBSa9t08pSyl3CY4frMrqp+aQXFGFkf5hEPbh/pIUFYWMK6ZLTfbmadxJVcJrdRoChlWQsA2VkJcDFK8hg==}
+    engines: {node: '>= 10.14.2'}
+    hasBin: true
+    dependencies:
+      '@jest/core': 26.6.3(ts-node@9.1.1)
+      '@jest/test-result': 26.6.2
+      '@jest/types': 26.6.2
+      chalk: 4.1.2
+      exit: 0.1.2
+      graceful-fs: 4.2.10
+      import-local: 3.1.0
+      is-ci: 2.0.0
+      jest-config: 26.6.3(ts-node@9.1.1)
+      jest-util: 26.6.2
+      jest-validate: 26.6.2
+      prompts: 2.4.2
+      yargs: 15.4.1
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - ts-node
+      - utf-8-validate
+    dev: true
+
   /jest-config@26.6.3(canvas@2.9.3)(ts-node@9.1.1):
     resolution: {integrity: sha512-t5qdIj/bCj2j7NFVHb2nFB4aUdfucDn3JRKgrZnplb8nieAirAzRSHP8uDEd+qV6ygzg9Pz4YG7UTJf94LPSyg==}
     engines: {node: '>= 10.14.2'}
@@ -13153,6 +13253,41 @@ packages:
       - utf-8-validate
     dev: true
 
+  /jest-config@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-t5qdIj/bCj2j7NFVHb2nFB4aUdfucDn3JRKgrZnplb8nieAirAzRSHP8uDEd+qV6ygzg9Pz4YG7UTJf94LPSyg==}
+    engines: {node: '>= 10.14.2'}
+    peerDependencies:
+      ts-node: '>=9.0.0'
+    peerDependenciesMeta:
+      ts-node:
+        optional: true
+    dependencies:
+      '@babel/core': 7.18.6
+      '@jest/test-sequencer': 26.6.3(ts-node@9.1.1)
+      '@jest/types': 26.6.2
+      babel-jest: 26.6.3(@babel/core@7.18.6)
+      chalk: 4.1.2
+      deepmerge: 4.2.2
+      glob: 7.2.3
+      graceful-fs: 4.2.10
+      jest-environment-jsdom: 26.6.2(canvas@2.9.3)
+      jest-environment-node: 26.6.2
+      jest-get-type: 26.3.0
+      jest-jasmine2: 26.6.3(ts-node@9.1.1)
+      jest-regex-util: 26.0.0
+      jest-resolve: 26.6.2
+      jest-util: 26.6.2
+      jest-validate: 26.6.2
+      micromatch: 4.0.5
+      pretty-format: 26.6.2
+      ts-node: 9.1.1(typescript@4.4.4)
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - utf-8-validate
+    dev: true
+
   /jest-diff@26.6.2:
     resolution: {integrity: sha512-6m+9Z3Gv9wN0WFVasqjCL/06+EFCMTqDEUl/b87HYK2rAPTyfz4ZIuSlPhY51PIQRWx5TaxeF1qmXKe9gfN3sA==}
     engines: {node: '>= 10.14.2'}
@@ -13284,6 +13419,36 @@ packages:
       - utf-8-validate
     dev: true
 
+  /jest-jasmine2@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-kPKUrQtc8aYwBV7CqBg5pu+tmYXlvFlSFYn18ev4gPFtrRzB15N2gW/Roew3187q2w2eHuu0MU9TJz6w0/nPEg==}
+    engines: {node: '>= 10.14.2'}
+    dependencies:
+      '@babel/traverse': 7.18.6(supports-color@5.5.0)
+      '@jest/environment': 26.6.2
+      '@jest/source-map': 26.6.2
+      '@jest/test-result': 26.6.2
+      '@jest/types': 26.6.2
+      '@types/node': 18.0.3
+      chalk: 4.1.2
+      co: 4.6.0
+      expect: 26.6.2
+      is-generator-fn: 2.1.0
+      jest-each: 26.6.2
+      jest-matcher-utils: 26.6.2
+      jest-message-util: 26.6.2
+      jest-runtime: 26.6.3(ts-node@9.1.1)
+      jest-snapshot: 26.6.2
+      jest-util: 26.6.2
+      pretty-format: 26.6.2
+      throat: 5.0.0
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - ts-node
+      - utf-8-validate
+    dev: true
+
   /jest-leak-detector@26.6.2:
     resolution: {integrity: sha512-i4xlXpsVSMeKvg2cEKdfhh0H39qlJlP5Ex1yQxwF9ubahboQYMgTtz5oML35AVA3B4Eu+YsmwaiKVev9KCvLxg==}
     engines: {node: '>= 10.14.2'}
@@ -13450,6 +13615,38 @@ packages:
       - utf-8-validate
     dev: true
 
+  /jest-runner@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-atgKpRHnaA2OvByG/HpGA4g6CSPS/1LK0jK3gATJAoptC1ojltpmVlYC3TYgdmGp+GLuhzpH30Gvs36szSL2JQ==}
+    engines: {node: '>= 10.14.2'}
+    dependencies:
+      '@jest/console': 26.6.2
+      '@jest/environment': 26.6.2
+      '@jest/test-result': 26.6.2
+      '@jest/types': 26.6.2
+      '@types/node': 18.0.3
+      chalk: 4.1.2
+      emittery: 0.7.2
+      exit: 0.1.2
+      graceful-fs: 4.2.10
+      jest-config: 26.6.3(ts-node@9.1.1)
+      jest-docblock: 26.0.0
+      jest-haste-map: 26.6.2
+      jest-leak-detector: 26.6.2
+      jest-message-util: 26.6.2
+      jest-resolve: 26.6.2
+      jest-runtime: 26.6.3(ts-node@9.1.1)
+      jest-util: 26.6.2
+      jest-worker: 26.6.2
+      source-map-support: 0.5.21
+      throat: 5.0.0
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - ts-node
+      - utf-8-validate
+    dev: true
+
   /jest-runtime@26.6.3(canvas@2.9.3)(ts-node@9.1.1):
     resolution: {integrity: sha512-lrzyR3N8sacTAMeonbqpnSka1dHNux2uk0qqDXVkMv2c/A3wYnvQ4EXuI013Y6+gSKSCxdaczvf4HF0mVXHRdw==}
     engines: {node: '>= 10.14.2'}
@@ -13490,6 +13687,46 @@ packages:
       - utf-8-validate
     dev: true
 
+  /jest-runtime@26.6.3(ts-node@9.1.1):
+    resolution: {integrity: sha512-lrzyR3N8sacTAMeonbqpnSka1dHNux2uk0qqDXVkMv2c/A3wYnvQ4EXuI013Y6+gSKSCxdaczvf4HF0mVXHRdw==}
+    engines: {node: '>= 10.14.2'}
+    hasBin: true
+    dependencies:
+      '@jest/console': 26.6.2
+      '@jest/environment': 26.6.2
+      '@jest/fake-timers': 26.6.2
+      '@jest/globals': 26.6.2
+      '@jest/source-map': 26.6.2
+      '@jest/test-result': 26.6.2
+      '@jest/transform': 26.6.2
+      '@jest/types': 26.6.2
+      '@types/yargs': 15.0.14
+      chalk: 4.1.2
+      cjs-module-lexer: 0.6.0
+      collect-v8-coverage: 1.0.1
+      exit: 0.1.2
+      glob: 7.2.3
+      graceful-fs: 4.2.10
+      jest-config: 26.6.3(ts-node@9.1.1)
+      jest-haste-map: 26.6.2
+      jest-message-util: 26.6.2
+      jest-mock: 26.6.2
+      jest-regex-util: 26.0.0
+      jest-resolve: 26.6.2
+      jest-snapshot: 26.6.2
+      jest-util: 26.6.2
+      jest-validate: 26.6.2
+      slash: 3.0.0
+      strip-bom: 4.0.0
+      yargs: 15.4.1
+    transitivePeerDependencies:
+      - bufferutil
+      - canvas
+      - supports-color
+      - ts-node
+      - utf-8-validate
+    dev: true
+
   /jest-serializer@26.6.2:
     resolution: {integrity: sha512-S5wqyz0DXnNJPd/xfIzZ5Xnp1HrJWBczg8mMfMpN78OJ5eDxXyf+Ygld9wX1DnUWbIbhM1YDY95NjR4CBXkb2g==}
     engines: {node: '>= 10.14.2'}
@@ -13634,9 +13871,9 @@ packages:
     engines: {node: '>= 10.14.2'}
     hasBin: true
     dependencies:
-      '@jest/core': 26.6.3(canvas@2.9.3)(ts-node@9.1.1)
+      '@jest/core': 26.6.3(ts-node@9.1.1)
       import-local: 3.1.0
-      jest-cli: 26.6.3(canvas@2.9.3)(ts-node@9.1.1)
+      jest-cli: 26.6.3(ts-node@9.1.1)
     transitivePeerDependencies:
       - bufferutil
       - canvas
@@ -14400,6 +14637,7 @@ packages:
   /loud-rejection@1.6.0:
     resolution: {integrity: sha512-RPNliZOFkqFumDhvYqOaNY4Uz9oJM2K9tC6JWsJJsNdhuONW4LQHRBpb0qf4pJApVffI5N39SwzWZJuEhfd7eQ==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       currently-unhandled: 0.4.1
       signal-exit: 3.0.7
@@ -14630,6 +14868,7 @@ packages:
   /meow@3.7.0:
     resolution: {integrity: sha512-TNdwZs0skRlpPpCUK25StC4VH+tP5GgeY1HQOOGP+lQ2xtdkN2VtT/5tiX9k3IWpkBPV9b3LsAWXn4GGi/PrSA==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       camelcase-keys: 2.1.0
       decamelize: 1.2.0
@@ -15504,6 +15743,7 @@ packages:
   /os-homedir@1.0.2:
     resolution: {integrity: sha512-B5JU3cabzk8c67mRRd3ECmROafjYMXbuzlwtqdM8IbS8ktlTix8aFGb2bAGKrSRIlnfKwovGUUr72JUPyOb6kQ==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -17733,6 +17973,7 @@ packages:
   /redent@1.0.0:
     resolution: {integrity: sha512-qtW5hKzGQZqKoh6JNSD+4lfitfPKGz42e6QwiRmPM5mmKtR0N41AbJRYu0xJi7nhOJ4WDgRkKvAk6tw4WIwR4g==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       indent-string: 2.1.0
       strip-indent: 1.0.1
@@ -17942,6 +18183,7 @@ packages:
   /repeating@2.0.1:
     resolution: {integrity: sha512-ZqtSMuVybkISo2OWvqvm7iHSWngvdaW3IpsT9/uP8v4gMi591LY6h35wdOfvQdWCKFWZWm2Y1Opp4kV7vQKT6A==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       is-finite: 1.1.0
     dev: true
@@ -18576,6 +18818,7 @@ packages:
 
   /shellwords@0.1.1:
     resolution: {integrity: sha512-vFwSUfQvqybiICwZY5+DAWIPLKsWO31Q91JSKl3UYv+K5c2QRPzn0qzec6QPu1Qc9eHYItiP3NdJqNVqetYAww==}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -19210,6 +19453,7 @@ packages:
     resolution: {integrity: sha512-I5iQq6aFMM62fBEAIB/hXzwJD6EEZ0xEGCX2t7oXqaKPIRgt4WruAQ285BISgdkP+HLGWyeGmNJcpIwFeRYRUA==}
     engines: {node: '>=0.10.0'}
     hasBin: true
+    requiresBuild: true
     dependencies:
       get-stdin: 4.0.1
     dev: true
@@ -19665,6 +19909,12 @@ packages:
       three: 0.156.1
     dev: false
 
+  /three-mtl-loader@1.0.2:
+    resolution: {integrity: sha512-GqDrWC5rbi+0/gp999S4lpCSHroBEfe9NqmH165orG0QhXeknL/eSNVMJUWBNgg2sBW7vlqVNWD/P0kdHeGC9g==}
+    dependencies:
+      three: 0.87.1
+    dev: false
+
   /three-stdlib@2.26.0(three@0.156.1):
     resolution: {integrity: sha512-zfae1OrUx7cLnH9GGW9PyIKwu7qCfEbWUk/GIT6JmEn7JZOu153mIPQxVXaJCAD6rDxb0Sr14Ab/vOIcJ7RpsA==}
     peerDependencies:
@@ -19687,6 +19937,10 @@ packages:
     resolution: {integrity: sha512-kP7H0FK9d/k6t/XvQ9FO6i+QrePoDcNhwl0I02+wmUJRNSLCUIDMcfObnzQvxb37/0Uc9TDT0T1HgsRRrO6SYQ==}
     dev: false
 
+  /three@0.87.1:
+    resolution: {integrity: sha512-ZwMODnlSi4CRAa4snN6R4FlxUCxlRHkUmCcAgqf0N2L6OGbnIsXPfqpvDyqWzoyqSCKfhjXWWp6tTSXOKwV+XA==}
+    dev: false
+
   /throat@5.0.0:
     resolution: {integrity: sha512-fcwX4mndzpLQKBS1DVYhGAcYaYt7vsHNIvQV+WXMvnow5cgjPphq5CaayLaGsjRdSCKZFNGt7/GYAuXaNOiYCA==}
     dev: true
@@ -19834,6 +20088,7 @@ packages:
   /trim-newlines@1.0.0:
     resolution: {integrity: sha512-Nm4cF79FhSTzrLKGDMi3I4utBtFv8qKy4sq1enftf2gMdpqI8oVQTAfySkTz5r49giVzDj88SVZXP4CeYQwjaw==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dev: true
     optional: true
 
@@ -20251,6 +20506,7 @@ packages:
   /untildify@2.1.0:
     resolution: {integrity: sha512-sJjbDp2GodvkB0FZZcn7k6afVisqX5BZD7Yq3xp4nN2O15BBK0cLm3Vwn2vQaF7UDS0UUsrQMkkplmDI5fskig==}
     engines: {node: '>=0.10.0'}
+    requiresBuild: true
     dependencies:
       os-homedir: 1.0.2
     dev: true
@@ -21518,5 +21774,4 @@ packages:
   file:packages/api-server:
     resolution: {directory: packages/api-server, type: directory}
     name: api-server
-    version: 0.0.0
     dev: true