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](
https://github.com/ros-visualization/rviz). Haven't found much.
* [Gazebo](
http://gazebosim.org/tutorials?tut=import_mesh). Their tutorial just talks about exporting to .dae/
* Collision computation libraries like [fcl](
https://github.com/flexible-collision-library/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.
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