Feature Request any plans to add Articulated body dynamics?

Hello devs!
Is there any plans to add Articulated body dynamics?
Since generalized coordinate system a lot more stable than world coordinate one during physics based character movement(e.g. ML characters), Machine Learning characters depend on only this Articulated body dynamics.

Moreover, Machine Learning environment expecting more on this ECS because of multi threaded logic system.
Articulated body dynamics physics is the key to completely move every ML agents into DOTS.