It will not help to improve the state-of-the-art wrt supported features, but in some testing I did a few months ago it turned out that you can use just about anything that Assimp supports for meshes in urdfs. In the end it all gets converted to vertices & faces anyway, so as long as Assimp can load your mesh it should work.
IIRC I even used `fbx` at some point.
Note that this is really just about meshes, so none of the 'advanced' features formats like Collada and FBX support are used (bones, skins, kinematics, simulation properties, etc).
I did not include Gazebo in these tests, so that may be different.
[quote="GarrettJohnson, post:1, topic:4325"]
Collada is pretty inefficient in terms of file size
[/quote]
Collada has a variant where the whole file is compressed using gzip, the extension changes to `.zae` and it typically results in 90% reduction in file size. It supports all of the things you mentioned, but it is definitely not meant to be human readable and is not straightforward to export to without a library doing it for you.
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