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robot_model natively support collada file, you can export collada format from existing urdf(http://www.ros.org/wiki/collada_urdf) and display it in rviz (http://www.ros.org/wiki/collada_urdf/Tutorials/Working%20Directly%20with%20COLLADA). One benefit of using collada is you can add your own information as a part of collada tag.

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