Proper way to create an arm with a tool changer in isaac sim?

Omniverse Isaac Sim
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Isaac Sim Version 4.2.0

I’m simulating a robot that has an arm with a tool changer. I need to dynamically attach and detach different end effectors to the tool changer at runtime using the python API. I’ve tried a bunch of different approaches and haven’t found anything that works. These includes :

  1. making the end effector a child of the tool changer
  2. moving the end effector’s prim path to be under the tool changer’s prim path
  3. creating a RigidAttachment between the end effector and tool changer (this was removed in version 4)

It seems that the physics engine gets unhappy whenever an articulation chain is modified at runtime. What is the proper way to do this?

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Please check if Assembling Robots And Rigid Bodies — Omniverse IsaacSim is helpful.