Can we create joint between two bodys at runtime instead of though urdf or xml?

Hi, I need to create joint beiween two bodys at runtime, such as this step create, and next step remove, is there any API for this, for now, I only find that we can predefine by urdf or xml.

Hi @thwu1,

I’m afraid that’s not possible with Isaac Gym. You should be able to do something like this with Isaac Sim, however you won’t be able to do RL efficiently, since adding or removing a DOF changes the size of the physics tensor view.