VR - Move Linked Objects

Hey guys. First time poster, so hopefully this isn’t too much of a beginner question.

I have a lamp that has multiple sections. Each section should rotate on only one axis. Up and down, or side to side.
It has an anchor at the top
I would like to be able to grab the end of the light (with a motion controller) and pull it, and have all the pieces move correctly

I’ve reviewed hinge and pivot tutorials, but most use physics. I wouldn’t think physics would be involved with this.
I’m looking to use the end like a helper in other 3D apps, to pull all the other pieces, that have constraints on certain axes

Here’s a screenshot illustrating the lamp pieces

Any help or resources would be greatly appreciated