This is a clean and simple editor extension for Unity3D which lets you import robot models that are specified as URDF (Unified Robot Description Format) files.

The importer loads the visual geometry including meshes and materials of the robots, so you can use them for your work, research or games in Unity3D. All you need to provide is a .urdf file (not .xacro), the meshes in .dae, .obj or .fbx format, and the materials if they are not contained in the mesh files. The full hierarchical kinematic structure with single game objects for each joint and link is loaded. The importer is platform-independent, and works on Windows, Linux and Mac.

If you are interested in an inverse kinematics (IK) solver which works on all these robots and with multiple goals, check out the Bio IK asset. In addition, the importer will then also automatically add the joints of Bio IK to create the motion of the segments, as shown in the available videos.

https://www.assetstore.unity3d.com/en/#!/content/67819

If you have any questions or would like me to test a particular robot in advance, just let me know.