diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index 07894b46d1..92db768e55 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -90,6 +90,7 @@ var ZERO_VEC = {
 };
 
 var NULL_ACTION_ID = "{00000000-0000-0000-000000000000}";
+var NULL_PARENT_ID = "{00000000-0000-0000-000000000000}";
 var MSEC_PER_SEC = 1000.0;
 
 // these control how long an abandoned pointer line or action will hang around
@@ -261,9 +262,9 @@ function MyController(hand) {
     this.triggerValue = 0; // rolling average of trigger value
     this.rawTriggerValue = 0;
     this.rawBumperValue = 0;
-    
+
     this.overlayLine = null;
-    
+
     this.ignoreIK = false;
     this.offsetPosition = Vec3.ZERO;
     this.offsetRotation = Quat.IDENTITY;
@@ -672,7 +673,9 @@ function MyController(hand) {
         }
 
         //this.lineOn(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, LINE_LENGTH), NO_INTERSECT_COLOR);
-        this.overlayLineOn(distantPickRay.origin, Vec3.sum(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, LINE_LENGTH)), NO_INTERSECT_COLOR);
+        this.overlayLineOn(distantPickRay.origin,
+                           Vec3.sum(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, LINE_LENGTH)),
+                           NO_INTERSECT_COLOR);
     };
 
     this.distanceHolding = function() {
@@ -696,7 +699,6 @@ function MyController(hand) {
             this.radiusScalar = 1.0;
         }
 
-        this.actionID = NULL_ACTION_ID;
         this.actionID = Entities.addAction("spring", this.grabbedEntity, {
             targetPosition: this.currentObjectPosition,
             linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
@@ -879,41 +881,26 @@ function MyController(hand) {
         }
 
         this.actionID = NULL_ACTION_ID;
-        this.actionID = Entities.addAction("hold", this.grabbedEntity, {
-            hand: this.hand === RIGHT_HAND ? "right" : "left",
-            timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
-            relativePosition: this.offsetPosition,
-            relativeRotation: this.offsetRotation,
-            ttl: ACTION_TTL,
-            kinematic: NEAR_GRABBING_KINEMATIC,
-            kinematicSetVelocity: true,
-            ignoreIK: this.ignoreIK
+        Entities.editEntity(this.grabbedEntity, {
+            parentID: MyAvatar.sessionUUID,
+            parentJointIndex: MyAvatar.getJointIndex(this.hand === RIGHT_HAND ? "RightHand" : "LeftHand")
         });
-        if (this.actionID === NULL_ACTION_ID) {
-            this.actionID = null;
+
+        if (this.state == STATE_NEAR_GRABBING) {
+            this.setState(STATE_CONTINUE_NEAR_GRABBING);
         } else {
-            this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
-            if (this.state == STATE_NEAR_GRABBING) {
-                this.setState(STATE_CONTINUE_NEAR_GRABBING);
-            } else {
-                // equipping
-                Entities.callEntityMethod(this.grabbedEntity, "startEquip", [JSON.stringify(this.hand)]);
-                this.startHandGrasp();
-
-                this.setState(STATE_CONTINUE_EQUIP_BD);
-            }
-
-            if (this.hand === RIGHT_HAND) {
-                Entities.callEntityMethod(this.grabbedEntity, "setRightHand");
-            } else {
-                Entities.callEntityMethod(this.grabbedEntity, "setLeftHand");
-            }
-
-            Entities.callEntityMethod(this.grabbedEntity, "setHand", [this.hand]);
-
-            Entities.callEntityMethod(this.grabbedEntity, "startNearGrab");
-
+            // equipping
+            Entities.callEntityMethod(this.grabbedEntity, "startEquip", [JSON.stringify(this.hand)]);
+            this.startHandGrasp();
+            this.setState(STATE_CONTINUE_EQUIP_BD);
         }
+        if (this.hand === RIGHT_HAND) {
+            Entities.callEntityMethod(this.grabbedEntity, "setRightHand");
+        } else {
+            Entities.callEntityMethod(this.grabbedEntity, "setLeftHand");
+        }
+        Entities.callEntityMethod(this.grabbedEntity, "setHand", [this.hand]);
+        Entities.callEntityMethod(this.grabbedEntity, "startNearGrab");
 
         this.currentHandControllerTipPosition =
             (this.hand === RIGHT_HAND) ? MyAvatar.rightHandTipPosition : MyAvatar.leftHandTipPosition;
@@ -961,21 +948,6 @@ function MyController(hand) {
         if (this.state === STATE_CONTINUE_EQUIP_BD) {
             Entities.callEntityMethod(this.grabbedEntity, "continueEquip");
         }
-
-        if (this.actionTimeout - now < ACTION_TTL_REFRESH * MSEC_PER_SEC) {
-            // if less than a 5 seconds left, refresh the actions ttl
-            Entities.updateAction(this.grabbedEntity, this.actionID, {
-                hand: this.hand === RIGHT_HAND ? "right" : "left",
-                timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
-                relativePosition: this.offsetPosition,
-                relativeRotation: this.offsetRotation,
-                ttl: ACTION_TTL,
-                kinematic: NEAR_GRABBING_KINEMATIC,
-                kinematicSetVelocity: true,
-                ignoreIK: this.ignoreIK
-            });
-            this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
-        }
     };
 
     this.waitingForBumperRelease = function() {
@@ -1187,6 +1159,11 @@ function MyController(hand) {
             if (this.actionID !== null) {
                 Entities.deleteAction(this.grabbedEntity, this.actionID);
             }
+
+            Entities.editEntity(this.grabbedEntity, {
+                parentID: NULL_PARENT_ID,
+                parentJointIndex: 0
+            });
         }
 
         this.deactivateEntity(this.grabbedEntity);
@@ -1315,7 +1292,6 @@ function update() {
 Messages.subscribe('Hifi-Hand-Disabler');
 
 handleHandDisablerMessages = function(channel, message, sender) {
-    
     if (sender === MyAvatar.sessionUUID) {
         if (message === 'left') {
             handToDisable = LEFT_HAND;