Inverse Kinematics solver for the UR5 in Unity. Based off of the paper "Analytic Inverse Kinematics for the Universal RobotsUR-5/UR-10 Arms" by Kelsey P.Hawkins
UR5 model from https://github.com/qian256/ur5_unity Replace the files in the /assets folder of the above link with the ones in this folder