Group two nodes together if a sensor detects a collision

Hi,

I am trying to group together two different nodes under different groups. The idea behind is that I hava a robotic arm that takes a stick and them moves the stick towards a different position. As the robotic arm has its own group, I can't do this from the beginning of the robotic arm will never take the stick as they will move "together". I want them to move independently until de gripper of the robotic amr grabs the stick since when, the stick should move solidary to the robotic arm. I am not using Simulink, only 3D World Editor together with MATLAB functions.

Any support? is this feasible?

Thank you very much.

Regards,

Blanca