Who wants this feature? no snap object grab with physics based collision from hand on to object

so i been noticing that alot of the games out there have objects that snap into the right place when the player picks them up ... i cant remember what game i saw this in but i remember there was one where the hand could grab objects from any position and the fingers would mold around the objects as if it was physically picking up the object but from any angle

anyway i want to figure out how to create that feature and i wanted to see if maybe someone knows how to do this or has a theory on how it can be done