[The CADDy]

I am a CAD member on my team and we are looking for ways to up or game in Robot simulation. We have already experimented with Solidworks motion study and simulation and now we are looking to take a step to controllable robot simulation. Something similar to what 3539(Byting Bulldogs) did with Gazebo last year. Any suggestions on what program we should run that would be the easiest to run with solidworks(if possible) or any extra advice you may have with robot simulation.