diff --git a/scripts/XRHand.cs b/scripts/XRHand.cs
index 81545df..960f2f3 100644
--- a/scripts/XRHand.cs
+++ b/scripts/XRHand.cs
@@ -3,7 +3,7 @@ using System.Collections.Generic;
 
 public partial class XRHand : XRController3D
 {
-    List<Generic6DofJoint3D> joints = new();
+    List<PinJoint3D> joints = new();
 
     [Export]
     RigidBody3D body;
@@ -42,12 +42,18 @@ public partial class XRHand : XRController3D
 
                 GD.Print("Picked up ", body);
 
-                Generic6DofJoint3D joint = new();
+                PinJoint3D joint = new();
                 joint.NodeA = body.GetPath();
                 joint.NodeB = this.body.GetPath();
                 joints.Add(joint);
+                
+                PinJoint3D joint2 = new();
+                joint2.NodeA = this.body.GetPath();
+                joint2.NodeB = body.GetPath();
+                joints.Add(joint2);
 
-                AddChild(joint);
+                this.body.AddChild(joint);
+                body.AddChild(joint2);
             }
         }
     }