I have some questions about how to connect 2 meshes as connect them together. Suppose I have 2 meshes, all I know is position "p1" in "mesh 1" is connecting to "p2" in "mesh 2", p1 and p2 are expressed in their own frame (in other words, p1 is expressed in the frame of mesh 1). Is it possible to assign these two points connected easily? As far as I know, if I try to connect the 2nd object under the 1st object, I have to define in the following way Code: <body name="obj1" pos="0 0 0"> <geom type ="mesh" mesh="mesh1"/> <body name ="obj2" pos = "pos of obj2's com in obj1"> <geom type ="mesh" mesh="mesh2"/> </body> </body> In this way, I have to know obj2's com position in obj1's frame, which is not simple to get if the geometry is complicated. Is there any easy way that I can give 2 points and expressed them in their own frame and connect them together?