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Should I choose to write a URDF manually or export URDF by Solidworks?

I wonder what is the normal process of the development of a robot, this would be a broad question and not specific enough.

What I want to know urgently is dependent on what I choose to get URDF by hand OR by Solidworks export plugin.

I heard that using sw_urdf_exporter would introduce error of coordinate etc. and sometimes not work, and the code format is not good for maintenance if exported automatically without xacro. In addition, I notice that the URDF of pr2 robot is written manually, which easier to understand the code.

However, writing a bunch of URDF to develop a robot seems not normal intuitively.