# How to load URDF files with .dae models into MeshCat?

**URL:** <https://discourse.julialang.org/t/how-to-load-urdf-files-with-dae-models-into-meshcat/19509>\
**Category:** Modelling & Simulations\
**Created:** [January 11, 2019, 9:56am UTC](https://discourse.julialang.org/t/how-to-load-urdf-files-with-dae-models-into-meshcat/19509 "2019-01-11T09:56:30Z")\
**Posts on this page:** 1\
**Showing post:** 3

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**Author:** ![rdeits](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/rdeits/32/286_2.png) [@rdeits](https://discourse.julialang.org/u/rdeits)\
**Post date:** [January 11, 2019, 1:36pm UTC](https://discourse.julialang.org/t/how-to-load-urdf-files-with-dae-models-into-meshcat/19509/3 "2019-01-11T13:36:05Z")

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In addition to what Twan said, I do have an experimental branch of MeshIO that adds .dae file support, and you’re welcome to try it out. You can add my branch with: `pkg> add https://github.com/rdeits/MeshIO.jl#rd/dae-support` .

Since this branch is still experimental, you’ll also need to tell `FileIO` that the `.dae` format exists and that `MeshIO` can handle it:

```julia
julia> FileIO.add_format(format"DAE", (), ".dae")
DataFormat{:DAE}

julia> FileIO.add_loader(format"DAE", :MeshIO)
1-element Array{Symbol,1}:
 :MeshIO

```

I’d be really curious to hear if that works well enough to load your UR10 model. If not, we can either try to fix the .dae loader or figure out what went wrong with your conversion to .obj.

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