diff --git a/pyproject.toml b/pyproject.toml
index f952f43..79b5263 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,7 +1,7 @@
 [project]
 name = "rerun-loader-urdf"
 description = "Example of an executable data-loader plugin for the Rerun Viewer for URDF files."
-version = "0.2.0"
+version = "0.3.0"
 requires-python = ">=3.10"
 dependencies = [
   "urdfdom-py",
diff --git a/src/rerun_loader_urdf/__init__.py b/src/rerun_loader_urdf/__init__.py
index db8d9e5..ebe3ada 100644
--- a/src/rerun_loader_urdf/__init__.py
+++ b/src/rerun_loader_urdf/__init__.py
@@ -97,6 +97,7 @@ def log_joint(self, entity_path: str, joint: urdf_parser.Joint, recording: rr.Re
     def log_visual(self, entity_path: str, visual: urdf_parser.Visual, recording: rr.RecordingStream) -> None:
         """Log a URDF visual to Rerun."""
         material = None
+        mesh_or_scene = None
         if visual.material is not None:
             if visual.material.color is None and visual.material.texture is None:
                 # use globally defined material
@@ -109,12 +110,15 @@ def log_visual(self, entity_path: str, visual: urdf_parser.Visual, recording: rr
         if isinstance(visual.geometry, urdf_parser.Mesh):
             resolved_path = self.root_filepath / resolve_ros_path(visual.geometry.filename)
             mesh_scale = visual.geometry.scale
-            mesh_or_scene = trimesh.load_mesh(resolved_path)
-            if mesh_scale is not None:
-                if transform is not None:
-                    transform.scale = mesh_scale
-                else:
-                    transform = rr.Transform3D(scale=mesh_scale)
+
+            transform = rr.Transform3D(scale=mesh_scale)
+
+            recording.log(entity_path + f"/{resolved_path}", rr.Asset3D(path=resolved_path), transform)
+            if material is not None:
+                recording.log(
+                    entity_path + f"/{resolved_path}", rr.Asset3D.from_fields(albedo_factor=material.color.rgba)
+                )
+
         elif isinstance(visual.geometry, urdf_parser.Box):
             mesh_or_scene = trimesh.creation.box(extents=visual.geometry.size)
         elif isinstance(visual.geometry, urdf_parser.Cylinder):
@@ -145,7 +149,7 @@ def log_visual(self, entity_path: str, visual: urdf_parser.Visual, recording: rr
                         texture_path = resolve_ros_path(material.texture.filename)
                         mesh.visual = trimesh.visual.texture.TextureVisuals(image=Image.open(texture_path))
                 log_trimesh(entity_path + f"/{i}", mesh, transform, recording=recording)
-        else:
+        elif mesh_or_scene is not None:
             mesh = mesh_or_scene
             if material is not None and not isinstance(mesh.visual, trimesh.visual.texture.TextureVisuals):
                 if material.color is not None: