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Export the CAD to URDFGet FK and dynamics via pinnochio
Robot Model
Kinematics
First define the home configuration as pointing straight up and all joint positions at zero as a homogenous transformation matrix 
.
Define the screws for each joint
where 
is the joint axis of rotation and 
corresponds to the base-frame joint origins in the home configuration.
Use the product of exponentials to compute the forward kinemtics
for joints i = 1 to n
Use the adjoint
Where 
is the adjoint transformation of the homogenous transform for frame i
Dynamics
Define the robot dynamics as
where
In Software
import pinocchio as pin
from pinocchio.urdf import buildModel
model = buildModel("ur10e.urdf.xacro")
data = model.createData()
# Forward kinematics
q = pin.neutral(model)
pin.forwardKinematics(model, data, q)
# Dynamics
M = pin.crba(model, data, q)
G = pin.computeGeneralizedGravity(model, data, q)
C = pin.computeCoriolisMatrix(model, data, q, np.zeros(model.nv))
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