Questiosn regarding robot model creation and dynamics calculation

[gabrielpeixoto-cvai]

First, thank you for the fantastic job and for sharing this with the community. I have two questions that are crucial for my current simulator use case:

1. Is there a plan to support dynamic robot model creation? (for example, mujoco has mjspec that allows me to create a robot programatically)
2. Is there a way to execute forward dynamics and inverse dynamics? Mujoco has these options and I am currently using the to estimate forces in joints.

Thanks in advance for any answers!