Can I use friction to make pliers hold objects?

I made what is basically a pair of pliers to grab and move objects. So far I’ve been able to move it around, open and close with a gamepad and interact phisically with objects (push and shove around). But when I try to close the pliers to grab an object it pushs it away as if it had no friction. I created a physics material and kept increasing friction but it didn’t work. I’m I doing something wrong? The openning/closing is controled in the Animation Blueprint, maybe the problem is around here.
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Should I use some other method to grab objects? I was hopping I could just use physics for this kind of interaction.