I made a brief video on how to make a custom simulation-machine.
No special tool is required, except to build a graphical model itself.

I built my machine in solidworks so I had all files for my machine, exported all of them as IGES for rhino reading, and there made groups of graphical modules, exported as STL files at lowest graphical setting.

** dynamic features are not something you need to make STL files. they are auto-generated by solidcam when module is called.
they are generated and then located at the transform location defined in machine setup.

Hope this can be of any help to someone.

Cheers
Kevin

https://youtu.be/R3pW8RenKZk