The reason for this is that in order to enable rotational motions of the rigid bodies, we would have to switch from normal Newton-dynamics to Newton-Euler-dynamics, which would require to implement completely different equations of motion. Although this is planned for some time in the future, right now only translational motions are allowed, which can be implemented into our regular dynamics and optimization framework.
Are you considering a system which explicitly requires rotational motions of rigid bodies, as well?