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We have recently published our ROS-Unity3D Toolbox ROS# on GitHub: https://github.com/siemens/ros-sharp

We use rosbridge_suite on the ROS side and implemented RosBridgeClient in C# (using websocket-sharp and newtonsoft json.net).

Our toolbox also has a URDF importer for Unity3d which downloads URDF, meshes and textures from ROS and models the robot with all its kinematics in Unity3D.

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