It will not help to improve the state-of-the-art wrt supported features, but in some testing I did a few months ago it turned out that you can use just about anything that Assimp supports for meshes in urdfs. In the end it all gets converted to vertices & faces anyway, so as long as Assimp can load your mesh it should work. IIRC I even used `fbx` at some point. Note that this is really just about meshes, so none of the 'advanced' features formats like Collada and FBX support are used (bones, skins, kinematics, simulation properties, etc). I did not include Gazebo in these tests, so that may be different. [quote="GarrettJohnson, post:1, topic:4325"] Collada is pretty inefficient in terms of file size [/quote] Collada has a variant where the whole file is compressed using gzip, the extension changes to `.zae` and it typically results in 90% reduction in file size. It supports all of the things you mentioned, but it is definitely not meant to be human readable and is not straightforward to export to without a library doing it for you. --- [Visit Topic](https://discourse.ros.org/t/support-the-ply-geometry-format-in-urdf/4325/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: