diff --git a/interface/src/avatar/GrabManager.cpp b/interface/src/avatar/GrabManager.cpp
index 5312bcc4eb..c41435d67e 100644
--- a/interface/src/avatar/GrabManager.cpp
+++ b/interface/src/avatar/GrabManager.cpp
@@ -32,7 +32,7 @@ void GrabManager::simulateGrabs() {
             if (success && grabbedThing) {
                 glm::vec3 finalPosition = acc.finalizePosition();
                 glm::quat finalOrientation = acc.finalizeOrientation();
-                grabbedThing->setWorldTransform(finalPosition, finalOrientation);
+                grabbedThing->setTransform(createMatFromQuatAndPos(finalOrientation, finalPosition));
             }
         }
     });
diff --git a/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp b/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
index 8c340b7fbb..1bbf348a9e 100644
--- a/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
+++ b/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
@@ -680,7 +680,6 @@ void Avatar::simulate(float deltaTime, bool inView) {
             head->setScale(getModelScale());
             head->simulate(deltaTime);
             relayJointDataToChildren();
-            updateGrabs();
         } else {
             // a non-full update is still required so that the position, rotation, scale and bounds of the skeletonModel are updated.
             _skeletonModel->simulate(deltaTime, false);
@@ -716,6 +715,11 @@ void Avatar::simulate(float deltaTime, bool inView) {
         updateAvatarEntities();
     }
 
+    {
+        PROFILE_RANGE(simulation, "grabs");
+        updateGrabs();
+    }
+
     updateFadingStatus();
 }
 
diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index cad00301a6..2c05c8910b 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -3301,7 +3301,7 @@ bool EntityItem::isWearable() const {
 void EntityItem::addGrab(GrabPointer grab) {
     SpatiallyNestable::addGrab(grab);
 
-    if (getDynamic()) {
+    if (getDynamic() && getParentID().isNull()) {
         EntityTreePointer entityTree = getTree();
         assert(entityTree);
         EntitySimulationPointer simulation = entityTree ? entityTree->getSimulation() : nullptr;
diff --git a/libraries/shared/src/SpatiallyNestable.cpp b/libraries/shared/src/SpatiallyNestable.cpp
index 9ffbb8fd3d..c100e46ccc 100644
--- a/libraries/shared/src/SpatiallyNestable.cpp
+++ b/libraries/shared/src/SpatiallyNestable.cpp
@@ -481,27 +481,29 @@ void SpatiallyNestable::setWorldTransform(const glm::vec3& position, const glm::
         return;
     }
 
-    bool changed = false;
     bool success = true;
     Transform parentTransform = getParentTransform(success);
-    _transformLock.withWriteLock([&] {
-        Transform myWorldTransform;
-        Transform::mult(myWorldTransform, parentTransform, _transform);
-        if (myWorldTransform.getRotation() != orientation) {
-            changed = true;
-            myWorldTransform.setRotation(orientation);
-        }
-        if (myWorldTransform.getTranslation() != position) {
-            changed = true;
-            myWorldTransform.setTranslation(position);
-        }
+    if (success) {
+        bool changed = false;
+        _transformLock.withWriteLock([&] {
+            Transform myWorldTransform;
+            Transform::mult(myWorldTransform, parentTransform, _transform);
+            if (myWorldTransform.getRotation() != orientation) {
+                changed = true;
+                myWorldTransform.setRotation(orientation);
+            }
+            if (myWorldTransform.getTranslation() != position) {
+                changed = true;
+                myWorldTransform.setTranslation(position);
+            }
+            if (changed) {
+                Transform::inverseMult(_transform, parentTransform, myWorldTransform);
+                _translationChanged = usecTimestampNow();
+            }
+        });
         if (changed) {
-            Transform::inverseMult(_transform, parentTransform, myWorldTransform);
-            _translationChanged = usecTimestampNow();
+            locationChanged(false);
         }
-    });
-    if (success && changed) {
-        locationChanged(false);
     }
 }
 
@@ -788,19 +790,21 @@ void SpatiallyNestable::setTransform(const Transform& transform, bool& success)
         return;
     }
 
-    bool changed = false;
     Transform parentTransform = getParentTransform(success);
-    _transformLock.withWriteLock([&] {
-        Transform beforeTransform = _transform;
-        Transform::inverseMult(_transform, parentTransform, transform);
-        if (_transform != beforeTransform) {
-            changed = true;
-            _translationChanged = usecTimestampNow();
-            _rotationChanged = usecTimestampNow();
+    if (success) {
+        bool changed = false;
+        _transformLock.withWriteLock([&] {
+            Transform beforeTransform = _transform;
+            Transform::inverseMult(_transform, parentTransform, transform);
+            if (_transform != beforeTransform) {
+                changed = true;
+                _translationChanged = usecTimestampNow();
+                _rotationChanged = usecTimestampNow();
+            }
+        });
+        if (changed) {
+            locationChanged();
         }
-    });
-    if (success && changed) {
-        locationChanged();
     }
 }
 
diff --git a/scripts/system/controllers/controllerScripts.js b/scripts/system/controllers/controllerScripts.js
index 7ab824f2c5..2114f2c0b2 100644
--- a/scripts/system/controllers/controllerScripts.js
+++ b/scripts/system/controllers/controllerScripts.js
@@ -35,7 +35,7 @@ var CONTOLLER_SCRIPTS = [
     "controllerModules/nearTabletHighlight.js"
 ];
 
-if (Settings.getValue("useTraitsGrab", false)) {
+if (Settings.getValue("useTraitsGrab", true)) {
     CONTOLLER_SCRIPTS.push("controllerModules/nearGrabEntity.js");
     CONTOLLER_SCRIPTS.push("controllerModules/farGrabEntity.js");
 } else {
diff --git a/scripts/system/libraries/controllerDispatcherUtils.js b/scripts/system/libraries/controllerDispatcherUtils.js
index fbaa61e9c9..e6df09fff9 100644
--- a/scripts/system/libraries/controllerDispatcherUtils.js
+++ b/scripts/system/libraries/controllerDispatcherUtils.js
@@ -332,17 +332,9 @@ getControllerJointIndex = function (hand) {
     var now = Date.now();
     if (now - getControllerJointIndexCacheTime[hand] > GET_CONTROLLERJOINTINDEX_CACHE_REFRESH_TIME) {
         if (HMD.isHandControllerAvailable()) {
-            var controllerJointIndex = -1;
-            // if (Camera.mode === "first person") {
-            //     controllerJointIndex = MyAvatar.getJointIndex(hand === RIGHT_HAND ?
-            //                                                   "_CONTROLLER_RIGHTHAND" :
-            //                                                   "_CONTROLLER_LEFTHAND");
-            // } else if (Camera.mode === "third person") {
-                controllerJointIndex = MyAvatar.getJointIndex(hand === RIGHT_HAND ?
-                                                              "_CAMERA_RELATIVE_CONTROLLER_RIGHTHAND" :
-                                                              "_CAMERA_RELATIVE_CONTROLLER_LEFTHAND");
-            // }
-
+            var controllerJointIndex = MyAvatar.getJointIndex(hand === RIGHT_HAND ?
+                                                              "_CONTROLLER_RIGHTHAND" :
+                                                              "_CONTROLLER_LEFTHAND");
             getControllerJointIndexCacheTime[hand] = now;
             getControllerJointIndexCache[hand] = controllerJointIndex;
             return controllerJointIndex;