Simple Object , VR interaction with bones.

I have asked a similar question before but found no solution so I'm trying to simplify the question here.

Imagine the following scenario:

There’s a room with a table, on top of the table there’s a typical reading lamp, consisting of a base, connected to two arms and the lamp itself at the end of the second arm. (simple swing arm desk lamp)

What I want to do is, in VR, grab the head of the lamp, pull wherever you want, let go of it and it stays there. I am not able to get this system to work.

Making a rig in Maya I can grab it and move it as needed in Maya I can import that to Unity and set up the rig move it with my mouse in the scene window but it doesn't work with SteamVR interactions? I can grab it but it immediately moves breaking constraints and when I move my hand it doesn't move until I let go again which makes it jump to some new contorted position. I tried joints but no they are floppy and break to easy even after hours of fiddling with settings.

Any one know how to make this work?