CAD to urdf for Unity using ROS#

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I am master thesis student and my thesis topic is to simulate kuka digital twin robot in unity. For this purpose I have imported the .fbx model of my Robot into unity using blender. I am using Kuka KR210 R2700 prime. I want to use ROS for forward kinematics, trajectory planning and integrate it with unity using asset ROS#. But for this purpose I will need urdf file of my robot model. While searching, I came across one github plugin to which has kuka models urdf files. It has one model similar to mine KR210 L150. But its specifications are different. And I want to change that urdf model specifications into my kuka model with the datasheet available. How can I achieve it? Should I change the specifications in ROS or I need to create new urdf file for my robot model? If yes how can I do it. Please guide me. Thanks. Regards, Ishani Vaidya.