Do you have pre-built assets for Unity for robotics simulation? For example, would be amazing if you had assets for each dynamixel with pre-configured settings for articulated bodies, etc. I am setting up articulated bodies one by one for the dynamixels I have. I imagine this would be a huge value add in general!
HatsuMuv has developed the DYNAMIXELforUnity plugin for DYNAMIXEL control in the unity IDE, I’m not sure if this has exactly what you’re looking for, but it’s the only unity plugin that I am aware of for DYNAMIXEL control and simulation.