Hi there! Is there a way to rigidly attach a rigid body (freejoint) to another tree of rigid bodies at runtime? I want to emulate a gripper without the need of having to go through the process of fine-tuning the grasp stability. I also don't really want to add further joints and all the DoF required for the gripper to work. Is such a thing possible? EDIT: Wanted to post it into Simulation Thread. Can someone move it? Kind regards, Max
There is no way to edit the model structure at runtime, because MuJoCo models are compiled. You could however achieve a similar effect by creating a weld equality constraint between the body and the palm, and enable/disable this constraint at runtime. This is done by changing mjModel.eq_active. But maybe you should just do grasping for real