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Creating a hinge joint 2d on collision!?

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I am making a 2d ragdoll game and i am struggling with making my player able to grab stuff such as walls and other players. How do i detect objects and create a hinge joint 2d between the players hand and the object? I'm new to unity aswell.,I am making a ragdoll game in 2d and i'm new to unity and i don't know how to make a grab system. I wanna be able to grab walls and such. I am having trouble with detecting where i should create the hinge joint 2d and what two objects it should connect. I don't even know how to create the hinge joint. Please help or give me tips.

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