How to avoid penetration while grasping

[1070237432]

I want to define my own judgement method of grasping. In detail, make the object with full constraints first, and analysis contact bones which are collision with it.

When I use the default grasp method, I find hand penetrates the object. And in contact model, hand will not penetrate. But when object in full constraints, hand will still penetrate.

So how can I avoid penetration while grasping. Or is there any way to put finger back to where it first collision when penetrates?

[AlexColgan]

Essentially you have to modify it so that an animation takes over the rigged hands, as our assets are explicitly designed to always reflect how the user's hands are posing and moving in real life.