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As far as I know, the only three formats supported by URDF/Gazebo/RViz are:

.dae (Collada)
.mesh (Ogre)
.stl

(also see this answer). Perhaps ArchiCAD can export to a format that can be imported by another program which can export into one of those formats. Perhaps this list of CAD programs and formats is of help (sorry, German link; the English Wikipedia page doesn't have ArchiCAD).

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