UrdfSim is a fork of the AirSim simulator that attempts to solve the problem of simulation of arbitrary robots. This fork maintains backwards compatibility with the existing AirSim features, while adding the capability of simulation of arbitrary robot, with control via python and c++ APIs. This simulator is built upon the excellent AirSim simulator released by MSR, and the Unreal Engine.
This code base works with UE 4.24. Other versions may work, but are not explicitly tested or supported.
Here are some examples of bots that can be built inside of AirSim-URDF:
If you're looking for binaries with this extension baked in, consider downloading one of the annotated maps
If you're looking for an example of an application of this project to a real problem, consider looking at the robomagellan orchestrator, which uses UrdfSim to simulate a run of the Seattle Robotics Society's RoboMagellan competition.
To get started with the custom robot functionality, proceed to Using a URDF pawn.