Reply To: FreeCAD Assembly Workbench Forum › Get Help › 3D Models › FreeCAD Assembly Workbench January 5, 2022 at 3:19 pm #1857 Quote GrumpyTacos Dont know much about Matlab/URDF. Google tells me that these are the available formats: https://wiki.freecadweb.org/Import_Export Perhaps some other export format can then be imported by a 3rd SW package to produce the format you need? Good luck.