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Try keyframes. When the imp grabs the ball the keyframe makes the ball light so you can move it around naturally (no rubber band effect).
Then when the ball is released the keyframe switches off & the ball becomes heavy again.
I would say you can rarely rely on the default physics as every game is different so you will usually run into these kinds of issues which need custom & creative solutions & workarounds. That's game development.
You may need a combination of keyframes, movers, force appliers & sensors to make your game physics work the way you want.
Most problems have multiple solutions & virtually every problem can be solved