Wenqiang Xu

Spherical Joint Tag in URDF supported

1

**Is your feature request related to a problem? Please describe.** Since Unity ArticulationBody has native support of SphericalJoint, as stated in [here](https://docs.unity3d.com/2020.1/Documentation/ScriptReference/ArticulationJointType.html). I wonder why the URDF importer cannot directly...

wenqiang latest work on rigid

3

Related issue number (if any) = #...

**Is your feature request related to a problem? Please describe.** I saw the documentation [here](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/urdf_importer/urdf_appendix.md#guide-to-write-your-own-controller) mentions "Note: Best practices for velocity and torque control will be published in the future."...

Hi, I git clone the rigid-ipc, and use python build.py to compile the project. It gives this error: CMake Error at python/CMakeLists.txt:6 (rigid_ipc_download_project): Unknown CMake command "rigid_ipc_download_project". Call Stack (most...