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I think the simplest way is to make the object you are carrying non collidable.
Although it will still act a little unpredictably as it will be acting under physics instead of animation. Simply placing the box within the puppets group without any joints.
You can even key frame the hands in a position so that it looks like they are holding the box. That will hopefully give you more reliable results that are easier to work with. :)
Hope this helps :) Peter