diff --git a/pytransform3d/mesh_loader.py b/pytransform3d/mesh_loader.py
new file mode 100644
index 000000000..b42a26330
--- /dev/null
+++ b/pytransform3d/mesh_loader.py
@@ -0,0 +1,150 @@
+"""Common interface to load meshes."""
+import abc
+
+import numpy as np
+
+
+def load_mesh(filename):
+    """Load mesh from file.
+
+    This feature relies on optional dependencies. It can use trimesh or
+    Open3D to load meshes. If both are not available, it will fail.
+    Furthermore, some mesh formats require additional dependencies. For
+    example, loading collada files ('.dae' file ending) requires pycollada
+    and trimesh.
+
+    Parameters
+    ----------
+    filename : str
+        File in which the mesh is stored.
+
+    Returns
+    -------
+    mesh : MeshBase
+        Mesh instance.
+    """
+    mesh = _Trimesh(filename)
+    loader_available = mesh.load()
+
+    if not loader_available:  # pragma: no cover
+        mesh = _Open3DMesh(filename)
+        loader_available = mesh.load()
+
+    if not loader_available:  # pragma: no cover
+        raise ImportError(
+            "Could not load mesh from '%s'. Please install one of the "
+            "optional dependencies 'trimesh' or 'open3d'." % filename)
+
+    return mesh
+
+
+class MeshBase(abc.ABC):
+    """Abstract base class of meshes.
+
+    Parameters
+    ----------
+    filename : str
+        File in which the mesh is stored.
+    """
+    def __init__(self, filename):
+        self.filename = filename
+
+    @abc.abstractmethod
+    def load(self):
+        """Load mesh from file.
+
+        Returns
+        -------
+        loader_available : bool
+            Is the mesh loader available?
+        """
+
+    @abc.abstractmethod
+    def convex_hull(self):
+        """Compute convex hull of mesh."""
+
+    @abc.abstractmethod
+    def get_open3d_mesh(self):
+        """Return Open3D mesh.
+
+        Returns
+        -------
+        mesh : open3d.geometry.TriangleMesh
+            Open3D mesh.
+        """
+
+    @property
+    @abc.abstractmethod
+    def vertices(self):
+        """Vertices."""
+
+    @property
+    @abc.abstractmethod
+    def triangles(self):
+        """Triangles."""
+
+
+class _Trimesh(MeshBase):
+    def __init__(self, filename):
+        super(_Trimesh, self).__init__(filename)
+        self.mesh = None
+
+    def load(self):
+        try:
+            import trimesh
+        except ImportError:
+            return False
+        obj = trimesh.load(self.filename)
+        if isinstance(obj, trimesh.Scene):  # pragma: no cover
+            # Special case in which we load a collada file that contains
+            # multiple meshes. We might lose textures. This is excluded
+            # from testing as it would add another dependency.
+            obj = obj.dump().sum()
+        self.mesh = obj
+        return True
+
+    def convex_hull(self):
+        self.mesh = self.mesh.convex_hull
+
+    def get_open3d_mesh(self):  # pragma: no cover
+        import open3d
+        return open3d.geometry.TriangleMesh(
+            open3d.utility.Vector3dVector(self.vertices),
+            open3d.utility.Vector3iVector(self.triangles))
+
+    @property
+    def vertices(self):
+        return self.mesh.vertices
+
+    @property
+    def triangles(self):
+        return self.mesh.faces
+
+
+class _Open3DMesh(MeshBase):  # pragma: no cover
+    def __init__(self, filename):
+        super(_Open3DMesh, self).__init__(filename)
+        self.mesh = None
+
+    def load(self):
+        try:
+            import open3d
+        except ImportError:
+            return False
+        self.mesh = open3d.io.read_triangle_mesh(self.filename)
+        return True
+
+    def convex_hull(self):
+        assert self.mesh is not None
+        self.mesh = self.mesh.compute_convex_hull()[0]
+
+    def get_open3d_mesh(self):
+        return self.mesh
+
+    @property
+    def vertices(self):
+        return np.asarray(self.mesh.vertices)
+
+    @property
+    def triangles(self):
+        return np.asarray(self.mesh.triangles)
diff --git a/pytransform3d/mesh_loader.pyi b/pytransform3d/mesh_loader.pyi
new file mode 100644
index 000000000..3eab08060
--- /dev/null
+++ b/pytransform3d/mesh_loader.pyi
@@ -0,0 +1,30 @@
+import abc
+from typing import Any
+
+import numpy.typing as npt
+
+
+class MeshBase(abc.ABC):
+    filename: str
+
+    def __init__(self, filename: str): ...
+
+    @abc.abstractmethod
+    def load(self) -> bool: ...
+
+    @abc.abstractmethod
+    def convex_hull(self): ...
+
+    @abc.abstractmethod
+    def get_open3d_mesh(self) -> Any: ...
+
+    @property
+    @abc.abstractmethod
+    def vertices(self) -> npt.ArrayLike: ...
+
+    @property
+    @abc.abstractmethod
+    def triangles(self) -> npt.ArrayLike: ...
+
+
+def load_mesh(filename: str) -> MeshBase: ...
diff --git a/pytransform3d/plot_utils/_plot_functions.py b/pytransform3d/plot_utils/_plot_functions.py
index 171fe860c..9ce1a5c87 100644
--- a/pytransform3d/plot_utils/_plot_functions.py
+++ b/pytransform3d/plot_utils/_plot_functions.py
@@ -6,6 +6,7 @@
 from ._artists import Arrow3D
 from ..transformations import transform, vectors_to_points
 from ..rotations import unitx, unitz, perpendicular_to_vectors, norm_vector
+from ..mesh_loader import load_mesh
 
 
 def plot_box(ax=None, size=np.ones(3), A2B=np.eye(4), ax_s=1, wireframe=True,
@@ -316,8 +317,8 @@ def plot_mesh(ax=None, filename=None, A2B=np.eye(4),
               convex_hull=False, alpha=1.0, color="k"):
     """Plot mesh.
 
-    Note that this function requires the additional library 'trimesh'.
-    It will print a warning if trimesh is not available.
+    Note that this function requires the additional library to load meshes
+    such as trimesh or open3d.
 
     Parameters
     ----------
@@ -364,20 +365,14 @@ def plot_mesh(ax=None, filename=None, A2B=np.eye(4),
             "package directory.")
         return ax
 
-    try:
-        import trimesh
-    except ImportError:
-        warnings.warn(
-            "Cannot display mesh. Library 'trimesh' not installed.")
-        return ax
-
-    mesh = trimesh.load(filename)
+    mesh = load_mesh(filename)
     if convex_hull:
-        mesh = mesh.convex_hull
+        mesh.convex_hull()
+
     vertices = mesh.vertices * s
     vertices = np.hstack((vertices, np.ones((len(vertices), 1))))
     vertices = transform(A2B, vertices)[:, :3]
-    vectors = np.array([vertices[[i, j, k]] for i, j, k in mesh.faces])
+    vectors = np.array([vertices[[i, j, k]] for i, j, k in mesh.triangles])
     if wireframe:
         surface = Line3DCollection(vectors)
         surface.set_color(color)
diff --git a/pytransform3d/test/test_mesh_loader.py b/pytransform3d/test/test_mesh_loader.py
new file mode 100644
index 000000000..59395831d
--- /dev/null
+++ b/pytransform3d/test/test_mesh_loader.py
@@ -0,0 +1,54 @@
+from pytransform3d import mesh_loader
+
+import pytest
+
+
+def test_trimesh():
+    mesh = mesh_loader._Trimesh("test/test_data/cone.stl")
+    loader_available = mesh.load()
+    if not loader_available:
+        pytest.skip("trimesh is required for this test")
+
+    assert len(mesh.vertices) == 64
+    assert len(mesh.triangles) == 124
+
+    mesh.convex_hull()
+
+    assert len(mesh.vertices) == 64
+
+
+def test_open3d():
+    mesh = mesh_loader._Open3DMesh("test/test_data/cone.stl")
+    loader_available = mesh.load()
+    if not loader_available:
+        pytest.skip("open3d is required for this test")
+
+    assert len(mesh.vertices) == 295
+    assert len(mesh.triangles) == 124
+
+    o3d_mesh = mesh.get_open3d_mesh()
+    assert len(o3d_mesh.vertices) == 295
+
+    mesh.convex_hull()
+
+    assert len(mesh.vertices) == 64
+
+
+def test_trimesh_with_open3d():
+    mesh = mesh_loader._Trimesh("test/test_data/cone.stl")
+    loader_available = mesh.load()
+    if not loader_available:
+        pytest.skip("trimesh is required for this test")
+    try:
+        o3d_mesh = mesh.get_open3d_mesh()
+    except ImportError:
+        pytest.skip("open3d is required for this test")
+    assert len(o3d_mesh.vertices) == 64
+
+
+def test_interface():
+    try:
+        mesh = mesh_loader.load_mesh("test/test_data/cone.stl")
+        assert len(mesh.triangles) == 124
+    except ImportError:
+        pytest.skip("trimesh or open3d are required for this test")
diff --git a/pytransform3d/visualizer/_artists.py b/pytransform3d/visualizer/_artists.py
index 3aaec1b97..6219d6098 100644
--- a/pytransform3d/visualizer/_artists.py
+++ b/pytransform3d/visualizer/_artists.py
@@ -6,6 +6,7 @@
 from .. import rotations as pr
 from .. import transformations as pt
 from .. import urdf
+from .. import mesh_loader
 
 
 class Artist:
@@ -554,11 +555,11 @@ class Mesh(Artist):
     """
     def __init__(self, filename, A2B=np.eye(4), s=np.ones(3), c=None,
                  convex_hull=False):
-        mesh = o3d.io.read_triangle_mesh(filename)
+        mesh = mesh_loader.load_mesh(filename)
         if convex_hull:
-            self.mesh = mesh.compute_convex_hull()[0]
-        else:
-            self.mesh = mesh
+            mesh.convex_hull()
+
+        self.mesh = mesh.get_open3d_mesh()
         self.mesh.vertices = o3d.utility.Vector3dVector(
             np.asarray(self.mesh.vertices) * s)
         self.mesh.compute_vertex_normals()
diff --git a/requirements.txt b/requirements.txt
index ba9132165..85caf81c7 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,5 +3,6 @@ scipy
 matplotlib
 lxml
 trimesh
+pycollada
 pydot
 open3d
diff --git a/setup.py b/setup.py
index c380cc6db..a3a5e695d 100644
--- a/setup.py
+++ b/setup.py
@@ -26,7 +26,7 @@
           packages=find_packages(),
           install_requires=["numpy", "scipy", "matplotlib", "lxml"],
           extras_require={
-              "all": ["pydot", "trimesh", "open3d"],
+              "all": ["pydot", "trimesh", "pycollada", "open3d"],
               "doc": ["numpydoc", "sphinx", "sphinx-gallery",
                       "sphinx-bootstrap-theme"],
               "test": ["pytest", "pytest-cov"]