public class HandScript : MonoBehaviour {

        public HandScript other;
        [HideInInspector] ConfigurableJoint cj;
        public SteamVR_Action_Boolean gripAction;

        private GameObject inHand;
        private Hand hand;
        private Transform currentAnchor;

        void Start() {
            hand = GetComponent<Hand>();
        }

        void Update() {
            if (gripAction.GetStateDown (hand.handType)){
                if (cj == null && inHand != null) {
                    cj = createJoint(inHand);
                }
            }

            if (cj != null && cj.connectedBody != null) {
                cj.angularYMotion = (other.cj == null || (other.cj != null && other.cj.connectedBody != cj.connectedBody)) ? ConfigurableJointMotion.Locked : ConfigurableJointMotion.Free;
                cj.angularZMotion = (other.cj == null || (other.cj != null && other.cj.connectedBody != cj.connectedBody)) ? ConfigurableJointMotion.Locked : ConfigurableJointMotion.Free;
            }
        }

        ConfigurableJoint createJoint(GameObject obj) {
            ConfigurableJoint joint = gameObject.AddComponent(typeof(ConfigurableJoint)) as ConfigurableJoint;
            Rigidbody objRb = obj.GetComponent<Rigidbody>();
            AnchorSetter anchors = obj.GetComponent<AnchorSetter> ();

            if (anchors != null) {
                Transform nextAnchor = anchors.getNextAnchor();

                if (nextAnchor != null) {
                    joint.autoConfigureConnectedAnchor = false;
                    currentAnchor = nextAnchor;
                    joint.anchor = Vector3.zero;
                    joint.connectedAnchor = nextAnchor.localPosition;
                }
            }

            if (other.cj == null || other.cj.connectedBody != objRb) {
                obj.transform.eulerAngles = transform.eulerAngles;
                joint.angularXMotion = ConfigurableJointMotion.Locked;
                joint.angularYMotion = ConfigurableJointMotion.Locked;
                joint.angularZMotion = ConfigurableJointMotion.Locked;
            }

            joint.xMotion = ConfigurableJointMotion.Locked;
            joint.yMotion = ConfigurableJointMotion.Locked;
            joint.zMotion = ConfigurableJointMotion.Locked;

            joint.connectedBody = objRb;
            return joint;
        }

        void OnTriggerEnter(Collider col) {
            if (col.gameObject != inHand && col.tag == "Interactable") {
                inHand = col.gameObject;
            }
        }

        void OnTriggerExit(Collider col) {
            if (col.gameObject == inHand) {
                inHand = null;
            }
        }
    }