Easier way of positioning snap handles

I have virtual hands in place of my controllers models, and they can take on a variety of poses.

I want to be able to precisely position the snap handles on an object so that it appears in the correct location (e.g. a key would be between the fingertips of a hand in a "pinch" pose).

Accurately positioning the snap handles to put the object in the right place is kind of tedious right now, involving a lot of trial and error, and of course it has to be done for each object and for each hand.

It would be great if there were some sort of tool (or tutorial) to simplify the process.