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Creo to URDF for Gazebo

Hi,

While I’m using Creo 2.0 to design my robot, is there any way to transfer my model to URDF for Gazebo so that it would be possible for me to simulate.

though, I found 2 ways on the Internet :

Creo > matlab(sim link plug-in) > urdf
Creo > solidwork(urdf plug-in) > urdf

is there any chance I can do it without both matlab & SolidWork ?