diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index e040befdf8..05dfc8e5d5 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -86,6 +86,11 @@ var STATE_RELEASE = 10;
 var GRABBABLE_DATA_KEY = "grabbableKey"; // shared with grab.js
 var GRAB_USER_DATA_KEY = "grabKey"; // shared with grab.js
 
+var DEFAULT_GRABBABLE_DATA = {
+    grabbable: true,
+    invertSolidWhileHeld: false
+};
+
 function getTag() {
     return "grab-" + MyAvatar.sessionUUID;
 }
@@ -257,10 +262,6 @@ function MyController(hand, triggerAction) {
 
         this.lineOn(pickRay.origin, Vec3.multiply(pickRay.direction, LINE_LENGTH), NO_INTERSECT_COLOR);
 
-        var defaultGrabbableData = {
-            grabbable: true
-        };
-
         // don't pick 60x per second.  do this check after updating the line so it's not jumpy.
         var now = Date.now();
         if (now - this.lastPickTime < MSECS_PER_SEC / PICKS_PER_SECOND_PER_HAND) {
@@ -275,7 +276,7 @@ function MyController(hand, triggerAction) {
             var intersectionDistance = Vec3.distance(handControllerPosition, intersection.intersection);
             this.grabbedEntity = intersection.entityID;
 
-            var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, intersection.entityID, defaultGrabbableData);
+            var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, intersection.entityID, DEFAULT_GRABBABLE_DATA);
             if (grabbableData.grabbable === false) {
                 this.grabbedEntity = null;
                 return;
@@ -308,7 +309,7 @@ function MyController(hand, triggerAction) {
 
             for (i = 0; i < nearbyEntities.length; i++) {
 
-                var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, nearbyEntities[i], defaultGrabbableData);
+                var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, nearbyEntities[i], DEFAULT_GRABBABLE_DATA);
                 if (grabbableData.grabbable === false) {
                     return;
                 }
@@ -700,24 +701,24 @@ function MyController(hand, triggerAction) {
     };
 
     this.activateEntity = function(entityID, grabbedProperties) {
+        var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, entityID, DEFAULT_GRABBABLE_DATA);
+        var invertSolidWhileHeld = grabbableData["invertSolidWhileHeld"];
         var data = getEntityCustomData(GRAB_USER_DATA_KEY, entityID, {});
         data["activated"] = true;
         data["avatarId"] = MyAvatar.sessionUUID;
         data["refCount"] = data["refCount"] ? data["refCount"] + 1 : 1;
-        // zero gravity and set ignoreForCollisions to true, but in a way that lets us put them back, after all grabs are done
+        // zero gravity and set ignoreForCollisions in a way that lets us put them back, after all grabs are done
         if (data["refCount"] == 1) {
             data["gravity"] = grabbedProperties.gravity;
             data["ignoreForCollisions"] = grabbedProperties.ignoreForCollisions;
-            Entities.editEntity(entityID, {
-                gravity: {
-                    x: 0,
-                    y: 0,
-                    z: 0
-                },
-                ignoreForCollisions: true
-            });
+            var whileHeldProperties = {gravity: {x:0, y:0, z:0}};
+            if (invertSolidWhileHeld) {
+                whileHeldProperties["ignoreForCollisions"] = ! grabbedProperties.ignoreForCollisions;
+            }
+            Entities.editEntity(entityID, whileHeldProperties);
         }
         setEntityCustomData(GRAB_USER_DATA_KEY, entityID, data);
+        return data;
     };
 
     this.deactivateEntity = function(entityID) {
@@ -752,4 +753,4 @@ function cleanup() {
 }
 
 Script.scriptEnding.connect(cleanup);
-Script.update.connect(update);
\ No newline at end of file
+Script.update.connect(update);
diff --git a/examples/grab.js b/examples/grab.js
index 1c49775a49..1a02911db9 100644
--- a/examples/grab.js
+++ b/examples/grab.js
@@ -29,8 +29,9 @@ var IDENTITY_QUAT = {
 var GRABBABLE_DATA_KEY = "grabbableKey"; // shared with handControllerGrab.js
 var GRAB_USER_DATA_KEY = "grabKey"; // shared with handControllerGrab.js
 
-var defaultGrabbableData = {
-    grabbable: true
+var DEFAULT_GRABBABLE_DATA = {
+    grabbable: true,
+    invertSolidWhileHeld: false
 };
 
 
@@ -324,8 +325,7 @@ Grabber.prototype.pressEvent = function(event) {
         return;
     }
 
-
-    var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, pickResults.entityID, defaultGrabbableData);
+    var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, pickResults.entityID, DEFAULT_GRABBABLE_DATA);
     if (grabbableData.grabbable === false) {
         return;
     }
@@ -496,6 +496,8 @@ Grabber.prototype.keyPressEvent = function(event) {
 }
 
 Grabber.prototype.activateEntity = function(entityID, grabbedProperties) {
+    var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, entityID, DEFAULT_GRABBABLE_DATA);
+    var invertSolidWhileHeld = grabbableData["invertSolidWhileHeld"];
     var data = getEntityCustomData(GRAB_USER_DATA_KEY, entityID, {});
     data["activated"] = true;
     data["avatarId"] = MyAvatar.sessionUUID;
@@ -504,7 +506,11 @@ Grabber.prototype.activateEntity = function(entityID, grabbedProperties) {
     if (data["refCount"] == 1) {
         data["gravity"] = grabbedProperties.gravity;
         data["ignoreForCollisions"] = grabbedProperties.ignoreForCollisions;
-        Entities.editEntity(entityID, {gravity: {x:0, y:0, z:0}, ignoreForCollisions: true});
+        var whileHeldProperties = {gravity: {x:0, y:0, z:0}};
+        if (invertSolidWhileHeld) {
+            whileHeldProperties["ignoreForCollisions"] = ! grabbedProperties.ignoreForCollisions;
+        }
+        Entities.editEntity(entityID, whileHeldProperties);
     }
     setEntityCustomData(GRAB_USER_DATA_KEY, entityID, data);
 };
diff --git a/libraries/input-plugins/src/input-plugins/SixenseManager.cpp b/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
index f542e63668..3950fdea43 100644
--- a/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
+++ b/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
@@ -166,6 +166,9 @@ void SixenseManager::update(float deltaTime, bool jointsCaptured) {
     auto userInputMapper = DependencyManager::get<UserInputMapper>();
 
     if (sixenseGetNumActiveControllers() == 0) {
+        if (_hydrasConnected) {
+            qCDebug(inputplugins, "hydra disconnected");
+        }
         _hydrasConnected = false;
         if (_deviceID != 0) {
             userInputMapper->removeDevice(_deviceID);