All software no hardware? I believe arms use G&M-code much like CNC machine do, dont quote me there..
gcode would look like G1 X5 Y5 Z5 ----that is the instruction inputted to go to 5,5,5 on xyz plane
using length and angles of points in arms you can do math to establish to where the servo positions will lead to in xyz space. (or reverse)
Is there Cad simulation software they gave you? usually 3d Cads have macro plugins to write code for.
fyi,idk what is industry standard, thats just what i would do on the street, with no creds.