Locking and unlocking a body part during simulation

[alvarobelmontebaeza]

Hi! I want to lock a certain part of my robot's body at a certain point during simulation. For example, imagine a manipulator reaches a grasping point, and then gets fixed to a certain structure. I want to then lock the position of the end-effector so that the robot joints can still move, but the end-effector will remain fixed at its position.

How could I achieve this behavior? Thanks in advance for your answers!

[abizovnuralem]

Are you planning to lock it from the beginning of training or during?

[alvarobelmontebaeza]

During training. I want to lock it and unlock it when certain conditions are met.

I know that if it was only at the start of training I could set the body as a Kinematic body, but haven't found a way to do so dynamically during training.