diff --git a/src/Data.cs b/src/Data.cs
index f0e57b5..0700e15 100644
--- a/src/Data.cs
+++ b/src/Data.cs
@@ -31,7 +31,7 @@ public class Grab
             {
                 held_by = hand;
                 grab_ref = this;
-                pos_offset = hand.palm.position - pose.position;
+                pos_offset = hand.palm.orientation.Inverse * (hand.palm.position - pose.position);
                 ori_offset = hand.palm.orientation.Inverse * pose.orientation;
                 return true;
             }
@@ -50,8 +50,8 @@ public class Grab
     {
         if (Held)
         {
-            pose.position = held_by.palm.position - pos_offset;
             pose.orientation = held_by.palm.orientation * ori_offset;
+            pose.position = held_by.palm.position - held_by.palm.orientation * pos_offset;
         }
     }
 }
\ No newline at end of file