Hello Jehan and welcome to the forum.
I know nothing about actually making the connection and having the object follow that arm after the gripping action is actuated. However, I have found that most of my mechanism attempts are more work that originally anticipated. I suspect that actually making the "gripping" connection would be yet again more work.
In my solution to your quest, I would probably "simulate" the movement with graphs that interpolate the movement of the robot.
I will be interested to see what replies will help in determining how to actually pick something up and move it through relations directed by the robot.