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It's completely find for frames to come and go from the system. It's designed to support that without incurring any overhead.

Attaching at a leaf is trivial, as you say you can just attach and detach something from the gripper by publishing the transform and then stopping.

If you want to join two different subtrees it's a little bit more complicated. Because you must join the root of one subtree to the other tree often you'll want to write a script that does this with the right semantic for your application. (In your case of joining two subtrains.

There's a discussion of how to do that in q#293004

It's completely find for frames to come and go from the system. It's designed to support that without incurring any overhead.

Attaching at a leaf is trivial, as you say you can just attach and detach something from the gripper by publishing the transform and then stopping.

If you want to join two different subtrees it's a little bit more complicated. Because you must join the root of one subtree to the other tree often you'll want to write a script that does this with the right semantic for your application. (In In your case of joining two subtrains.

There's a discussion of how to do that in q#293004#q293004