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You can blend animation togeather with keyframes.
So you could position the arms out like they are grabbing, when you pless the appropriate button. THEN, in the same button press activate a tag called "grab"
On the movable blocks have a chip that activates "follow" when it detects the "grab" tag
This should work but knowing dreams there's a gadget that actually does this directly on physics objects. (Maybe the force modifier)
I'll look next time i play dreams.