Problem with Grab physics objects

I followed [this tutorial][1] for make a first person grab/drop system like amnesia.

Everything is going well except the player dont grab the objects by their position, causing [these issues][2]

All that I’m doing is clicking the left mouse button. As you can see, objects move close to me on grabbing, causing these “explosions”

How can I do for keep the objects on their position on grab like [this video][3]? (min 5:48)

There is my code:

Grab Object

Handle location

I spended a lot of time searching on Google and trying own solutions, but on internet there is nothing and by my own methods I completely bug the game. Any idea of how can I fix that?