Without being familiar with 3D modle formats, I’d say someone would need to give the point of view from the libraries that use these files. I’m thinking of:
- Rviz. Haven’t found much.
- Gazebo. Their tutorial just talks about exporting to .dae/
- Collision computation libraries like fcl which I believe is used in MoveIt.
If they already have support for it, sounds great! If they don’t, a newer version of URDF should at the same time support these big players I guess.