how to pickup an actor A and attach to actor B in VR

Development Platform & Builds XR Development
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1

I want to pickup an actor A in VR template,and then move to another actor B,when they overlaped,A detach from the controller and attach to actor B, how can I achieve this?

2

I hope the same logic when you grab thing one controller and then grab another, it detach from one and attach to second