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Gazebo can import the maps you mentioned, but the format it expects them might be different than what is exported by the 3d tool you're using. Here's the code if it helps: https://github.com/gazebosim/gz-common/blob/gz-common5/graphics/src/tiny_obj_loader.h and https://github.com/gazebosim/gz-common/blob/f62bbb03a268b338c750123df6d5e0a1bcb4fb4a/graphics/src/OBJLoader.cc#L86