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I don't believe that any 3d modeling software can directly output a URDF file.

I believe that the best way to go about creating a URDF file from a CAD package is to export a set of your critical dimensions as a CSV file or the like. Most, if not all, CAD packages allow you to define a set of critical dimensions to export. You can then parse these critical dimensions into a set of XACRO variables that you can use in the rest of your URDF files.

Once you have set this up once, you could then just re-export the CSV and re-run your parser each time that the 3d model changes.

You can also export your STL files to allow for "prettier" robot models.