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I checked the website for your program and it does support wavefront OBJ's. Go to export-->probably under 'file'-well at least it is in Milkshape, and click export "wavefront OBJ" and click it. Save it. Open the your package file you first saved when you opened SimPe. Go to GMDC and click on the main part of it. In the plugin view click import and then just do what it says to do.
As for the coloring check out a tutorial here at MTS2 as that is done with SimPe.
If this didn't help I'm sure a tutorial at MTS2 will at least guide you even though you'll have to improvise sometimes as you are using a different program