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README.md

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 This is a simulation of the [Universal Robotics UR3e](https://www.universal-robots.com/products/ur3-robot/) robot using Unity's new [articulation joint system](https://docs.unity3d.com/2020.1/Documentation/ScriptReference/ArticulationBody.html).
 
+This new joint system, powered by [Nvidia's PhysX 4](https://news.developer.nvidia.com/announcing-physx-sdk-4-0-an-open-source-physics-engine/), is a dramatic improvement over the older joint types available in Unity. It uses Featherstone's algorithm and a reduced coordinate representation to gaurantee no unwanted stretch in the joints. In practice, this means that we can now chain many joints in a row and still achieve stable and precise movement.
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+This, along with other key improvements in PhysX 4, unlocks state of the art robotics simulation in Unity.
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 ### Getting Started