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The URDF file simply references DAE/COLLADA files that exist elsewhere on the filesystem. Blender and FreeCAD have exporters for DAE files. Saying Blender is a "monstrous tool" is an opinion that probably has little facts to back it up. If you plan on doing URDF file generation more in the future, you will need to learn Blender. DAE is the default ...


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You can do that in Proteus. You can simulate a stepper motor there, but only to see the motion, it is not possible to simulate the speed, inertia, and mechanical response.


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