It is possible to grab Rigidbodies and static objects. The exact behaviour depends on a number of things.
When physics is enabled in the Humanoid Settings and on the Hand Target Settings, the hands will collide with objects. Grabbing then happens when the hand is touching an object and the hand is closed.
When physics is not enabled, the hands will go through objects and grabbing takes places when the hand is closed while inside the object.
Without adding a Handle to a GameObject, only Rigidbodies can be grabbed. When grabbing, the object will stay in the position where the object is grabbed.
When a Handle is added, it is possble to grab Rigidbodies or static objects. The Handle will specify how the object should fit in the hand. See for more information the Handle documentation.
The exacly behaviour of grabbing a object with a handle depends on the object you grab:
|Non-kinematic rigidbody||object is moved such that the handle is in the hand palm and the object is grabbed palm|
|Kinematic rigidbody||object is moved such that the handle is in the hand palm and the object is grabbed|
|Static collider with handle||hand is moved such that the handle is in the hand palm and the object is grabbed|