SolidWorks: SolidWorks offers tools for designing and exporting URDF files for use in robot simulation and control. Blender: Blender has add-ons and scripts that facilitate the creation of URDF files ...

Making robot motion with Blender is, if not easy, at least tolerable. We made a sample project, a 3-axis robot arm to illustrate. It has a non-moving pedestal, rotating base, upper arm, and lower arm.