Many many years ago, I wrote a converter for the output of [SimMechanics link](
https://wiki.ros.org/simmechanics_to_urdf). It has largely not been maintained, but the [code is available](
https://github.com/ros/robot_model/tree/robot_model-1.8/simmechanics_to_urdf).
The most direct path would be to output individual meshes for each piece of your model and then link them together with a URDF.
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