Can I somehow easily create animations in-scene so that it matches up to static meshes?

Hi,

So I’m working on a VR project and I want to make sure the hand grips various props correctly. For that I need to set up custom animations/poses for the different props. Similar to what I imagine they did for this (Although that one is in Unity). Anyway, I’ll need a lot of hand poses to match up with the different props, so is there a faster way to create those than trying to do them in another software, matching them in there with the prop, then importing the animation and matching it up again in-engine?