PhysicsHands Helper

[nowtch1223]

I am doing research on virtual grasping at university and am using PhysicsHands as a system to perform grasping.
I am using PhysicsHands from Ultraleap Tracking Preview 6.9.0 in Unity 2021.3.15f1.
I am using PhysicsProvider with HelperMovesObject checked.
I am able to grasp virtual objects at this stage.

However, I do not know exactly under what conditions the grasping is taking place.

My current thinking is that the grasp is performed when the Grasp gesture is recognized, and the grasped object has a parent-child relationship with the palm of the hand.

What hand condition would identify the hand as Grasp?
What are the conditions for activating Grasp? (How many degrees or more the fingers are bent, which fingers enter the virtual object, etc.)

Am I correct in understanding that if I grab a virtual object, it has a parent-child relationship with the palm of my hand?

I read the following URL and didn't find it listed, so I would like to know.
https://docs.ultraleap.com/ultralab/physicshands-preview-blogpost.html

I am sorry if the English is unnatural since I am translating at DeepL.