Today, I finally managed to get a 22 DOF humanoid robot simulated in robotSim.  Man what a lot of work.  I really thought it would have taken a lot less time, but thats how it goes.  Most of the problems were with Unity’s lack of documentation on configurable joints.  I had to really understand the PhysX 6DOF joint and translate the parameters to Unity configurable joint parameters (same joint different names).   

Once I get the Ok, I will be able to post some nice screen shots and movies.