gripper simulation enviornment modeling

[2-woo-10]

Hi, I'm a student and I'm trying to use MuJoCo for robot grasping

I'm looking for some help with simulation environment modeling .

I am working on a project where I need to use the Franka Panda gripper in the MuJoCo simulator to grasp an object. Specifically, I want to use the gripper alone to hold an object and then apply external forces to the object while measuring the forces involved.

My question is: During the simulation, is it possible to have the object fixed in place while the gripper grasps it, and then switch the object to a freejoint to apply forces to it? I want to ensure that I can change the object's state after it has been grasped so that I can apply forces and measure the response accurately.

Thank you for your assistance!