diff --git a/src/freecad_to_gazebo/exporter.py b/src/freecad_to_gazebo/exporter.py
new file mode 100644
index 0000000..4bb6990
--- /dev/null
+++ b/src/freecad_to_gazebo/exporter.py
@@ -0,0 +1,90 @@
+import FreeCAD, Mesh, os, numpy as np
+import collada
+
+
+def export(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)):
+    '''FreeCAD collada exporter
+    scale - scaling factor for the mesh
+    quality - mesh tessellation quality
+    offset - offset of the origin of the resulting mesh'''
+
+    colmesh = collada.Collada()
+    colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP
+    objind = 0
+    scenenodes = []
+
+    for obj in exportList:
+        bHandled = False
+        if obj.isDerivedFrom("Part::Feature"):
+            bHandled = True
+            m = obj.Shape.tessellate(quality)
+            vindex = []
+            nindex = []
+            findex = []
+            # vertex indices
+            for v in m[0]:
+                vindex.extend([a*scale+b for a, b in zip(v, offset)])
+            # normals
+            for f in obj.Shape.Faces:
+                n = f.normalAt(0,0)
+                for i in range(len(f.tessellate(quality)[1])):
+                    nindex.extend([n.x,n.y,n.z])
+            # face indices
+            for i in range(len(m[1])):
+                f = m[1][i]
+                findex.extend([f[0],i,f[1],i,f[2],i])
+        elif obj.isDerivedFrom("Mesh::Feature"):
+            bHandled = True
+            print("exporting mesh ",obj.Name, obj.Mesh)
+            m = obj.Mesh
+            vindex = []
+            nindex = []
+            findex = []
+            # vertex indices
+            for v in m.Topology[0]:
+                vindex.extend([a*scale+b for a, b in zip(v, offset)])
+            # normals
+            for f in m.Facets:
+                n = f.Normal
+                nindex.extend([n.x,n.y,n.z])
+            # face indices
+            for i in range(len(m.Topology[1])):
+                f = m.Topology[1][i]
+                findex.extend([f[0],i,f[1],i,f[2],i])
+
+        if bHandled:
+            vert_src = collada.source.FloatSource("cubeverts-array"+str(objind),
+                                                  np.array(vindex),
+                                                  ('X', 'Y', 'Z'))
+            normal_src = collada.source.FloatSource("cubenormals-array"+str(objind),
+                                                    np.array(nindex),
+                                                    ('X', 'Y', 'Z'))
+            geom = collada.geometry.Geometry(colmesh,
+                                             "geometry"+str(objind),
+                                             obj.Label,
+                                             [vert_src, normal_src])
+
+            input_list = collada.source.InputList()
+            input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind))
+            input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind))
+            triset = geom.createTriangleSet(np.array(findex),
+                                            input_list,
+                                            "materialref")
+            geom.primitives.append(triset)
+            colmesh.geometries.append(geom)
+
+            geomnode = collada.scene.GeometryNode(geom)
+            node = collada.scene.Node("node"+str(objind), children=[geomnode])
+
+            #TODO: Add materials handling
+            scenenodes.append(node)
+
+        objind += 1
+
+    scene = collada.scene.Scene("scene", scenenodes)
+    colmesh.scenes.append(scene)
+    colmesh.scene = scene
+
+    colmesh.write(filename)
+    print("file %s successfully created\n" % filename)
+