This post explains how to create a 3D CAD model from a PCB design from EAGLE. The following versions of the software are used :
First, the board outline must be specified in the layer 20 (Dimension). If there is no board outline, add a close shape on layer 20 with the Wire tool.
Run EagleIDFExporter.ulp and follow the instruction. The ulp should create two files with the extensions emn and emp.
Check that the CirciutWorks add-in is started. If not, in Tools > Add-Ins, select CircuitWorks (To use CircuitWorks in every SolidWorks session, select CircuitWorks under Start Up). With CircuitWorks, open the emn file (open the ECAD file). The board appears in the window.
It is possible to associate each component from the board to a 3D model. Once all the components are associated, click on Build model : CircuitWorks will generate a new assembly in the Solidworks main window :