Online creation of constraints between multiple actors

I am trying to use Isaac Gym to create a modular robotics framework to study learning of reconfiguration and locomotion.

I would like to be able to start a simulation with many actors and then create connections based on the position of the actors. I envisioned two possible solutions: either use force constraints between two connected actors, or dynamically reconfigure these actors as only one.

I can’t find in the current documentation a way to achieve this. Does someone have an advise or know if it is possible in Isaac Gym or if I should get back to MuJoCo and loose the super speed ?