Driving constraints in assembly
 

Assuming that I had an assembly of a robot and a goal (which I do not have - yet) and embedded them into a new assembly as sub-assemblies, is there a possibility to drive constraints on the robot directly? For example, if I wanted to use the goal grabber of the robot on the goal, could I drive the constraint for the motor directly from the assembly? So far, I have not found a possibility to do that.