simulate robotic arm of my size

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Hello all.

So I would like be able to simulate a robotic arm BUT:

• I don't have an physical arm. I just want to be able to simulate it.
• I want the robotic arm to be of whatever size I chose (in how many places it can rotate, how long each part is and so on).

In other words. I want to be able to visualize a robotic arm (in rviz maybe, not sure) with out having a robotic arm in real life. Then to be make it have whatever sizes I want.

Can I do this with ROS and with what packages?

Besides the simulation part, is there a package that allows me to easily move it (do the kinematics and everything)? For example, I want to be able to say to the arm "make a line from [x,y,z] to [x' , y', z'] " and then for it to see a simulated arm do it.