Picking up Items in VR and keeping hand in position.

Hey all,

Been dealing with this problem for 2 days now so I though Id give it a shot here:

This is as far as I have gotten, Its working quite well. But since I am connecting the sword directly to the wrist bone of the rig to attain this effect, it is pushing the wrist out of the way and giving me a weird hand animation. However its locked position is exactly what I want, something alla blade and sorcery.

I am now however beginning to wonder if my approach is flawed from the outset and am considering doing it all over if anyone has a better approach. I have final ik, puppetmaster to help with the solution. But I cant really seem to get any help anywhere. If anyone wishes to work on thjis with me Id be most grateful and put out a tutorial to make it easier for others in the future.

On the sword is a copy of the hand Object that has been placed in that fingers closed pose and given a handpose script:

 public class HandPose : MonoBehaviour
 {
     public Transform[] transforms { get; private set; }
 
     void Awake()
     {
         transforms = (Transform[])GetComponentsInChildren<Transform>();
     }
 }

On the actual hand in the rig hierarchy the hand is given the handTarget script:

 public class HandTarget : MonoBehaviour
 {
     [Range(0f, 1f)] public float weight = 1f;
     public HandPose currentPose;
     public Transform handBone;
 
     public Transform[] transforms = new Transform[0];
     private Vector3 position;
     private Vector3 lastPosition;
     private Quaternion rotation = Quaternion.identity;
     private Quaternion lastRotation = Quaternion.identity;
     private Quaternion[] localRotations = new Quaternion[0];
     private Quaternion[] lastLocalRotations = new Quaternion[0];
 
     private float lerpWeight;
     private float lerpV;
     private HandPose lastPose;
 
     void Start()
     {
         transforms = (Transform[])handBone.GetComponentsInChildren<Transform>();
         localRotations = new Quaternion[transforms.Length];
         lastLocalRotations = new Quaternion[transforms.Length];
 
         position = transform.position;
         rotation = transform.rotation;
         lastPosition = position;
         lastRotation = rotation;
 
         for (int i = 2; i < transforms.Length; i++)
         {
             localRotations[i] = transforms[i].localRotation;
             lastLocalRotations[i] = transforms[i].localRotation;
         }
     }
 
     void LateUpdate()
     {
             if (weight <= 0f) return;
             if (currentPose == null) return;
 
             // Changing the pose
             if (currentPose != lastPose)
             {
                 position = lastPosition;
                 rotation = lastRotation;
 
                 for (int i = 1; i < transforms.Length; i++)
                 {
                     localRotations[i] = lastLocalRotations[i];
                 }
 
                 lerpWeight = 0f;
                 lastPose = currentPose;
             }
 
             lerpWeight = Mathf.SmoothDamp(lerpWeight, 1f, ref lerpV, 0.1f);
 
             Vector3 p = Vector3.Lerp(position, currentPose.transform.position, lerpWeight);
             transform.position = weight >= 1f ? p : Vector3.Lerp(transform.position, p, weight);
             lastPosition = transform.position;
 
             Quaternion r = Quaternion.Lerp(rotation, currentPose.transform.rotation, lerpWeight);
             transform.rotation = weight >= 1f ? r : Quaternion.Lerp(transform.rotation, r, weight);
             lastRotation = transform.rotation;
 
             for (int i = 1; i < transforms.Length; i++)
             {
                 Quaternion localR = Quaternion.Lerp(localRotations[i], currentPose.transforms[i].localRotation, lerpWeight);
                 transforms[i].localRotation = weight >= 1f ? localR : Quaternion.Lerp(transforms[i].localRotation, localR, weight);
                 lastLocalRotations[i] = transforms[i].localRotation;
             }
 
     }

And when picking up the sword a custom event is fired:

     /// The pose for holding this Item
     [SerializeField] Transform _myRightHandPose;
     /// the attachment position of the item to the wrist
     [SerializeField] Transform attachmentPos;
     /// the IK system of the player
     private VRIK ik;
     /// the hand we wish to modify
     private HandTarget rightHandTarget;
   
  public void MyOnGrabEvent()
     {
         if (rightHandTarget.weight >= 0.1f)
         {
             rightHandTarget.weight = 0.03f;
         }
 
         rightHandTarget.currentPose = _myRightHandPose.GetComponent<HandPose>();
 
         ik.solver.rightArm.target = attachmentPos;
 
     }

Any help is appreciated.