ORBIT: How to attach rigid body to a robot

Omniverse Isaac Sim
1

Hello,

I have a custom made robot and a rigid body asset that I am using in an environment in ORBIT. At some point in the simulation I want to have the rigid body get “magnetically” attached to the robots end effector and have it move with it. Are there any ways to do this in code?

Thanks!

4

Do you have a specific need for ORBIT or can you use Isaac Lab?