Which program should I use to make animations (specifically fighting animations) to use in UR4?

I’ve actually never used UR4 as I’m still learning to make models/rigging/texturing and don’t have the need atm. But I’m soon done with learning the those skills and need to find out which program I should use to make animations. I’ve done some animations in 3ds max, but if there is something better I would rather use that.
I’ve heard you can make animations in UR4, but I’m curious as to which program you actually use to make animations.
I would really appreciate any help if you have the time!