URoboSim is an Unreal Engine 4/5 plugin that allows importing robots to Unreal Engine using the URDF/SDF format and control them using various ROS interfaces. With using URoboSim, it is not only possible to execute real robot plans in simulation, it is also achievable to emulate the actions of a real robot in order to build a continuous belief state of the world.
You can try out an example project here.
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