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VR attach hand to object (e.g. door)

Hey guys,
I tried to create a vr open door mechanic.
It is possible to open and close the door when the hand intersects with the door mesh.
But the final step should be that if you press the trigger on the MC controller, your hand is “attached” to the door handle and you hold the door handle in your hand and can move the door relative to the movement of the MC.

Like in this video (5.00min):
https://www.youtube.com/watch?v=8Et1-V3PzgQ

I hope you can help me.
Regards