Download and manual——> https://sites.google.com/site/mcasualsdazscripts3/mcjparent
This script for DS1, 2, 3, 4 will let you do animations tasks like picking and leaving an object
a hand picking a sword for example or a robotic arm picking an egg
It can also let you do simple parenting.
In fact initially i wrote this script because my Daz Studio 3 regularly loses the ability to parent
one node to another after an hour of work on a scene.
So instead of saving my scene, closing DS3, restarting DS3 and re-loading the scene, i use this script