Automatic Algorithmic Unwrapper,
The simplest and fastest method I know is to open the OBJ mesh inside Blender. Take out the UV mapping (select it and delete it) export the mesh as FBX without UV mapping and open it inside S.Painter. Substance will make an automatic UV mapping. The quality will be bad especially for cylindrical or spheres:
After using the automatic Algorithmic unwrapper, inside S.P. is possible to paint the model using tri-linear projection instead of UV mapping projection.
Blender UV mapping
I learn fast how to UV mapping in Blender with this old paid good course (not Blender 2.8 UI ):
https://www.udemy.com/course/learn-uv-unwrapping-with-blender-for-unity-3d-game-design/
Blender 2.8 is much simple.
But you must be there in Blender clicking a lot of buttons because in Blender or Rhino when you are unwrapping, you do this for each object at the time and there is no packing. And you need to pack it all later to fit the UV space. RizomUV has some extra tools. So pushing a few buttons let you make a nice packing and much faster(in seconds instead of hours).
I’m not good at making a video course but I will try to make something.
Rhino is good for making cylindrical, spherical and box projection. I use that for simple hard surfaces! There are some errors in the user UV mapping editor interface but is possible to use it after you understand how it works.
But not all the parts of a hard surface object can be projected in Rhino. When you need to make a complex unwrap projection, you can use Blender.
RizomUV
I suggest paying extra and use RizomUV because of the unwrapping tool works well. And + benefit of unpacking. Also in RizomUV, you can make a Lua program and a button to import and export. So with fewer clicks, you get a uv mapping. I spend one-year unwrapping in Blender and in Rhino (and making bug reporthttps://mcneel.myjetbrains.com/youtrack/search/Reported%20by%20me-665#issueId=BO-2982s). When I pass to Rizom I understood that the cost benefits was fantastic. I do not know how to use it well and the interface is not smooth like Rhino.
Grasshopper: In theory, you can build up a graph in Grasshopper to get the UV mapping and pack. So yes it is possible.
There are also other more expensive tools like InstaLOD or PiXYZ