Resolved Grabbing an object teleports its center to my controller (how to offset grab)

I'm having trouble with the XRGrabInteractable script. When I grab an object (let's say a cube), the center of the grabbed object teleports on the transform of my controller.
I'd like to be able to grab the cube from anywhere (say a corner) and not having its center come to my controller, keeping the offset distance between the center of the cube and the Attach Transform. I only want the cube to translate, no rotations involved so it should be easier (only need to add an offset to the position of the controller) but I can't find a way to do it.
I thought about overriding some functions in the XRGrabInteractable script (like the GetWorldAttachPosition), but since I'm a beginner in C# coding I might be doing that wrong.
Does anyone have an idea ? Thanks in advance !

 

I kept on searching and found a video explaining exactly what I want, I'll leave it here for anyone wondering how to offset grab an object