Have you tried ArtiMinds Robot Programming Suite?
The software has won already won some prestigious awards (e.g. from robohub or during the last Automatica fair) and enables a completely new way of robot programming.
It currently supports UR, but will support Denso & Kuka early next year and allows full online & offline programming without any line coding - even in case of highly complex and advanced tasks.
The software allows to program robots via drag'n'drop of predefined templates, which then are parametrized via teach-in. Afterwards you can directly simulate the program and also execute it on the robot controler with a single mouseclick.
We have had our software tested by the N° 1 system integrator in Germany, which concluded that it allows 100x faster programming for a peg-in-hole problem using a force-sensor.
You can try it out for free:
http://www.artiminds.com/software_demo.html
Demo videos of the software & applications can be found here:
https://www.youtube.com/channel/UCCk32K_Ouy4Opa5_5UXUYzA
In case of any questiosn, feel free to contact me