[simulator][rigid body](up to 8 pts) Rigid body kinematics #21
Description
Rigid Body Kinematics
Build a forward kinematic system with customizable entity for rigid body.
It should support all common joints and physical properties (such as joint limit, link weight and inertia, etc) (4 pts)
Support loading from URDF file (2 pts)
Support inverse kinematics, solves q' given a position of end effector (2 pts)