You need to use XRSocketInteractor from XRInteractionToolkit. It is very easy to "Grab" or "Handle" objects with this tool. All you need is trigger collider on object with XRSocketInteractor, and object that will be grabbed with non trigger collider, rigidbody, and XRGrabInteractable. https://docs.unity3d.com/Packages/[email protected]/manual/xr-socket-interactor.html