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pyassimp apparently reads 3D file formats like ply and stl, and there is a usage example in the MoveIt planning scene interface that is probably helpful:

 def makeMesh(self, name, pose, filename):
     if not use_pyassimp:
         rospy.logerr('pyassimp is broken on your platform, cannot load meshes')
         return
     scene = pyassimp.load(filename)
     if not scene.meshes:
         rospy.logerr('Unable to load mesh')
         return

     mesh = Mesh()
     for face in scene.meshes[0].faces:
         triangle = MeshTriangle()
         if len(face.indices) == 3:
             triangle.vertex_indices = [face.indices[0],
                                        face.indices[1],
                                        face.indices[2]]
         mesh.triangles.append(triangle)
     for vertex in scene.meshes[0].vertices:
         point = Point()
         point.x = vertex[0]
         point.y = vertex[1]
         point.z = vertex[2]
         mesh.vertices.append(point)
     pyassimp.release(scene)

     o = CollisionObject()
     o.header.stamp = rospy.Time.now()
     o.header.frame_id = self._fixed_frame
     o.id = name
     o.meshes.append(mesh)
     o.mesh_poses.append(pose)
     o.operation = o.ADD
     return o