Is there a way to auto-grab items?

I made a few assumptions. The object being a sword and that it is being force held on player enter. The main piece of code you are looking for is force hold line but this should work.

// these are the required imports from horizon/core
import { Component, PropTypes, CodeBlockEvents, GrabbableEntity, Handedness } from 'horizon/core';

class ForceHoldObject extends Component<typeof ForceHoldObject > {
     static propsDefinition = {
          sword: { type: PropTypes.Entity },
     };

     // first we must connect to the player enter world event. This will give us a reference to the player when they enter the world.
     preStart() {
          this.connectCodeBlockEvent(this.entity, CodeBlockEvents.OnPlayerEnterWorld, data => this.OnPlayerEnterWorld(data));
     }

     // once the player enters the world we can force hold the sword.
     // however, we must first ensure that the sword is set.
     // we do this by checking with an if statement.
     OnPlayerEnterWorld(player: Player) {
          if (this.props.sword) { // if this returns true we can force hold the sword
               this.props.sword.as(GrabbableEntity).forceHold(player, Handedness.Right, false)
          }
          else { // else we may want to know that it is not set so print a warning to the console.
               console.warn("sword is missing or null!");
          }
     }
}
Component.register(ForceHoldObject);