I am working on a simulation where a robot moves his legs. I need to toggle at runtime wether each foot is fixed to the world or not. I.e. when in swing, a foot should be free, when it's in stance, it should be fixed. I tried using an equality/connect element for the fixed effect, which has the right fixed behaviour. I can make it inactive too, which is good. The problem is than when I re-enable the constraint, it constaints the foot back to the original position. Is there any way to have a ball-like joint (like the 'connect' equality) use the relative positions at the time instead of the zero-configuration? Note I also tried the equality/weld element, it has the same (for me) undesired behaviour. To summarize: I would like to disable a constraint, move the object and re-enable the constraint without the object moving back to the original position. Thank you!