Enabling-disabling fixed constraints between objects during run-time.

[kvasios]

Hi, I was wandering whether MuJoCo allows for setting fixed constraints between objects dynamically during run-time as e.g pybullet's add/remove constraint functions. Or any alternatives for mimicking this behavior? Any working example would be appreciated as I haven't found anything along those lines.

[yuvaltassa]

Yes. This was already requested in #876 and addressed in ee78b8f (item 13 in the 3.0.0 release notes)

You can see usage examples in the tests, e.g. here

Next time, please try to check if what you want was already requested.

[kvasios]

Thanks for the response. Quite helpful to have those resources. I've tried a quick search on the issue before posting but I haven't gotten any relevant results.

[yuvaltassa]

I'm now realizing the eq_data variable should be documented here but is currently not mentioned. Reopening to remind us to do this.

[yuvaltassa]

Docs on Latest branch now up to date.