Connect object A and B together, and B can move with A

[asdptl-lab]

Hello.
I have a problem attaching two different objects in the scene.
Currently, I am using SOFA v23.06 in a Python environment. I want to connect the gripper to a handle, so that the gripper moves along with the handle, while also allowing the gripper to control its clenching and loosening. I have looked at some examples and documentation but couldn't find a workable solution. I have tried using BarycentricMapping, but this prevents the gripper from controlling its movement. Could you please suggest what type of connection I should use in this situation?