I would be really happy to help on this. However, I think the real prerequisite here (that is difficult to do just on the community side) is to transfer the specification from the wiki to a git/GitHub repository, even without any website (see Move URDF specification to a Github repo? · Issue #62 · ros/urdfdom_headers · GitHub). Without that, it is really cumbersome to:
- Version the specification. On a git repo, you can add tags/releases, while on the wiki there is not such support
- Discuss improvements changes, especially coming from the community. On GitHub there is the usual PR workflow to which most developers are already used, while on the wiki people just modify the specification if they feel confident enough.
I would be happy to handle the wiki → GitHub Markdown conversion, but I think we need to someone that can create a repo for this in the ros organization to green light this, otherwise we just risk to introduce even more fragmentation in different URDF dialects.