A custom engine for simulating robotic manipulators, that is also my bachelor's thesis.
Currently implemented features:

• simulation of highly redundant open-loop kinematic chains
• static and dynamic environments
• simulation of path planning algorithms: RRT, ARRT, genetic algorithm and more to come.

Platform: .NET Core / C#
Graphics: OpenTK
Tested on: Windows 10, Ubuntu 20.04 (partially)