2 controller grabbing of an object?

How would I apply NewtonVR to be able to grab an object with both controllers?

VRTK has the ability, but I need NewtonVR's ability to use the rigidbody on the object to interact with the environment and not pass through colliders. It works great 1 handed but I can't figure out how to do 2 handed. Thanks so much!

I've spent hours and hours looking at the code, messing with the code, and I just can't seem to figure it out.