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Some time ago we evaluated V-Rep, and there was a URDF importer plugin in the works. Have you tried using it?.

This was almost two years ago, and I don't know what the current state of affairs is. I do remember that at the time negative scaling factors (for reflection transformations) did not work. Other than that I recall it worked quite well.

On your second question, if you are going to use any ROS tool that require a URDF (like rviz), you'll need more than just transmissions for the tool to work, you'll need a complete URDF.