Connecting to entities in a plugin

1

Dear reader,

I am making a plugin that simulates a vacuum gripper. For this I need to connect two entities. I was advised by Microsoft’s copilot to use the following method:

// Create a joint to attach the object to the gripper
dataPtr->jointEntity = _ecm.CreateEntity();

// Add a FixedJoint component to the new entity
_ecm.CreateComponent(dataPtr->jointEntity, gz::sim::components::Joint());

 // Set the parent and child links for the joint
 // Set the parent and child links for the joint
_ecm.CreateComponent(dataPtr->jointEntity, gz::sim::components::ParentEntity(gripper_entity.value()));
_ecm.CreateComponent(dataPtr->jointEntity, gz::sim::components::ChildEntity(object_entity));

Unfortunately the ChildEntity does not exist in Components and I get the following compile error:

error: ‘ChildEntity’ is not a member of ‘gz::sim::v8::components’
 _ecm.CreateComponent(dataPtr->jointEntity, gz::sim::components::ChildEntity(object_entity));

I also don’t know if I’m using the right method for this. Who can help me with this?

Thanks in advance, greetings Gerard