Simple 3D animation file format?

File formats such as FBX and USD attempt to do everything and as a result are quite complicated.

Is there a layered 3D/animation interchange format that allows for relatively painless scene interchange between 3D apps?

By layered I mean something where each feature builds on the previous features. Something like:

1) OBJ-like static geometry

2) materials and lighting

3) per-frame transform matrices

4) animation curves

5) etc.