How could I make procedural hand animations for VR?

I’m working on my VR Fps game, and I figured out that I don’t quite have time to animate every animation nor do I have the Robux to hire someone to do it. The solution I thought of was to generate hand animations everytime you grab an object. The only problem with that is that I don’t know how to. Anyone have a(n) idea as to how to do so?

You could use Inverse Kinematics which would point your finger(s) to a certain point by using available joints, would work well if you had the specific point moving on an axis relative to the hand’s position depending on how much you want the finger to bend. I would recommend this video if you don’t know IK.