How to force Avatar Hand to blend as Interaction Rig's hand when grabbing object

I'm trying to have the Avatar hand (from avatar sdk) to shape as the interaction rig hands when grabbing object. For example, in the samples scenes if I put the avatar in the TouchGrabExamples scene when i grab an object the interaction hand actually stop at the collider position while the avatar's one go all the way through it. Someone have an idea for solve it?