Mimic Support for URDF & Equality Support for MJCF

[COMoER]

Thanks for releasing such an awesome simulator for robotics researchers. For simulation of the gripper or dexterous hand, the complex linkage structures are often simplified as underactuated joints, which are defined as the mimic attribute or equality attribute in URDF or MJCF respectively. Is there any support for mimic joints in Genesis? I would appreciate it if you could reply.