[Question] Simulating Dynamic Grip on Fixed Rigid Bodies

[Manchewable]

Hello,

I am building a simulation in IsaacLab where a humanoid agent must dynamically grip and release fixed objects (like walls and ledges) to navigate complex terrain. My goal is to simulate a physical grip that allows the agent to hold onto rigid bodies that are fixed in world space, with the ability to release on command.

Some approaches I've tried so far:

• Surface Grippers: The built-in surface gripper functionality seems perfect, but according to the documentation, it's only supported on the CPU backend. For performance reasons, I prefer a solution that is compatible with the GPU backend.
• Dynamic Joints: I tried adding and removing fixed joints during simulation, but I haven't been able to get this working reliably yet.

My question is that, what are the established alternative methods or best practices for achieving this kind of dynamic, on-demand grip in IsaacLab?

Any pointers, code snippets, or conceptual guidance would be extremely helpful. Thank you for your time and expertise!