load URDF and Inverse Kinematics

Hi Andres，I'm looking for a library that implements Inverse Kinematics (calculating joint angles) for a robot simulation, and I'd like it in C#. Also, do you provide support for reading URDF files? I want to know if BulletsharpPInvoke can meet these requirements, and I am curious if there are any new developments or suggestions at the moment. @AndresTraks 