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Hash, Inc. - Animation:Master

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Can someone point me in the right direction for an explanation on how to use constraints to have an actor grab and hold objects in his hand? I have his fingers wrapped around the object (in my case, the hilt of a sword). Do I have to constrain the hilt bone to the hand or finger bones or vice versa? Do I use translate to and/or kinematic constraints? Nothing I try seems to get the object to stick in its original position. For example, the hilt of the sword jumps to the outside of the hand.

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