Can Genesis create constraints at runtime?

[MRiabov]

Hello,
I'm working on a robot that would be able to robotics ML solution screw and unscrew fasteners. Specifically, screw and unscrew in the correct order.
I understand that MuJoCo (from which Genesis inherits the API/ideas) supports only static constraints, so one constraint can can only ever constrain one fastener to one hole. This is normal for robots, but not so much for my application - if there are 10 fasteners and 20 holes, there are 200 constraints that are necessary. Yes, this can be automated by creating MJCF automatically, but I think this is less than ideal. Bonus is that when there are two bodies that one fastener can constrain (which is 99% of the case), we need to scale n^3 amount of constraints, so, fastener links with any hole on body 1 and on body 2, which results in 102020 holes, if there are 20 holes on the second part.

Is there any way to create constraints without predefining them? IMO this is a perfectly valid usecase.

Thanks!