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Generally, it doesn't matter if the URL ends with an extension or not.
Most often, you will have multiple files in a folder, so there will be an extension, anyway.
However, you can have the main page of the product be called index.php/html/asp, and you can then direct folks at site.com/category/product easily.
Mostly, it doesn't make much sense, it is just that the less folders there are, and the shorter the URL is, the better. Most probably, only the file depth matters.
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