Help on Grab System

[Devyyy46]

I’m developing a grab system for my game, but the arms lag behind the player, and the grabbing lacks force. Even when the object is massless, the body doesn’t attempt to pick it up, and there is a noticeable gap between the hands and the grabbed object.
would really appreciate you feedback on how to fix the problems and how i could make this better

Grabbing not being aligned to the object:

arms seem to be disconnected from the body
https://gyazo.com/f3ac5feba4b385919d276ba350da050c

Setup Script:

game.Players.PlayerAdded:Connect(function(p)
	p.CharacterAdded:Connect(function(c)
		c:WaitForChild("Humanoid").BreakJointsOnDeath = false
		
			
		print("hgftyguhjkl")
		wait(1)
		local voo = c.RightUpperArm:FindFirstChildWhichIsA("Motor6D")
		local a0, a1 = Instance.new("Attachment"), Instance.new("Attachment")
		a0.CFrame = voo.C0
		a1.CFrame = voo.C1
		a0.Parent = voo.Part0
		a1.Parent = voo.Part1
		local b = Instance.new("HingeConstraint")
		b.Attachment0 = a0
		b.Attachment1 = a1
		b.Parent = voo.Part0
		local c = Instance.new("BallSocketConstraint")
		c.Attachment0 = a0
		c.Attachment1 = a1
		c.Parent = voo.Part0
		
		voo:Destroy()
		
		
		wait(1)
		---b.LimitsEnabled = false
		----b.MaxAngle = 0
		c.Name = "joint1"
		b.Name = "Hinge1"
		b.LowerAngle = 0
		b.UpperAngle = 0
		b.LimitsEnabled = true
	--	b.Enabled = false
		--a0.Name = "Attachment00"
		--a0.Orientation = Vector3.new(0,-180,-90)
		
		--p.PlayerGui.ScreenGui.Grab.MouseButton1Click:Connect(function()
			
	--	end)
		
	--local gyro = Instance.new("BodyGyro",c.RightUpperArm)
	--	gyro.CFrame= workspace.hmmm.CFrame
	--	gyro.MaxTorque = Vector3.new(100000,0,0)
	
	end)
end)

actual grabscript:

wait(1)
	local ready = false
	local stage2 = false
	local button = script.Parent
	local char = script.Parent.Parent.Parent.Parent.Character
	local hand = char.RightHand
	local arm = char.RightUpperArm

	local atch = char.UpperTorso:WaitForChild("Hinge1")
	local UserInputService = game:GetService("UserInputService")


	local function Grab()
		print(ready)

		if ready == false and stage2 == false then
			ready = true
			atch.LimitsEnabled = true
			atch.Enabled = true
			atch.LowerAngle = 90
			atch.UpperAngle = 90
		elseif ready == true then
			ready = false
			-- Lower hand
			atch.LimitsEnabled = true
			atch.Enabled = true
			atch.LowerAngle = 0
			atch.UpperAngle = 0
		elseif stage2 == true then
			stage2 = false 
			-- Delete weld
			atch.LimitsEnabled = true
			atch.Enabled = true
			atch.LowerAngle = 0
			atch.UpperAngle = 0
			hand.WeldConstraint:Destroy()
		end
	end

	local remote = game.ReplicatedStorage.Remote.RightGrab

	remote.OnServerEvent:Connect(function(player)
		Grab()
	end)


	button.MouseButton1Click:Connect(function()
		Grab()
	end)

	hand.Touched:Connect(function(hit)

		if ready == true then
			local IFFY1 = hit:FindFirstAncestorWhichIsA("Model")
			local IFFY2 = IFFY1:FindFirstChild("Humanoid")
			if not IFFY2 then
				local weld = Instance.new('WeldConstraint', hand)
				weld.Part0 = hand
				weld.Part1 = hit
				atch.LimitsEnabled = false
				atch.Enabled = false
				ready = false
				stage2 = true
			end
		end
	end)

localscript:

local UserInputService = game:GetService("UserInputService")
local ReplicatedStorage = game:GetService("ReplicatedStorage")

local Right = ReplicatedStorage.Remote:WaitForChild("RightGrab")
local Left = ReplicatedStorage.Remote:WaitForChild("LeftGrab")

local function OnKeyPress(input)
	if input.KeyCode == Enum.KeyCode.E then
		Right:FireServer()
	elseif input.KeyCode == Enum.KeyCode.Q then
		Left:FireServer()
	elseif input.KeyCode == Enum.KeyCode.ButtonR2 then  -- Right trigger (RT)
		Right:FireServer()
	elseif input.KeyCode == Enum.KeyCode.ButtonL2 then  -- Left trigger (LT)
		Left:FireServer()
	end
end

local function OnKeyRelease(input)
	if input.KeyCode == Enum.KeyCode.E then
		-- Release logic for E key
		Right:FireServer()  -- Fire the grab function for the released button
	elseif input.KeyCode == Enum.KeyCode.Q then
		-- Release logic for Q key
		Left:FireServer()  -- Fire the grab function for the released button
	elseif input.KeyCode == Enum.KeyCode.ButtonR2 then  -- Right trigger (RT)
		-- Release logic for Right trigger
		Right:FireServer()  -- Fire the grab function for the released button
	elseif input.KeyCode == Enum.KeyCode.ButtonL2 then  -- Left trigger (LT)
		-- Release logic for Left trigger
		Left:FireServer()  -- Fire the grab function for the released button
	end
end

UserInputService.InputBegan:Connect(OnKeyPress)
UserInputService.InputEnded:Connect(OnKeyRelease)