Robot with multiple bodies?

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Robot with multiple bodies?


I'm looking to do some work with a simplified robot model that only takes grippers into account (so they behave as is they are floating). I know its possible to do this with 2 robots (one for each gripper), but we'd like to be able to treat this as a single robot. Is there a way to define a robot with multiple bodies? Or alternatively a way to mimic this with an appropriately defined robot?

Thanks for your time!

Dylan Hadfield-Menell