Help figuring out collision

I made a robotic arm to grab and move objects. I control its movement with a gamepad an the closing/openning inside of an Animation Blueprint (to move the bones of the skeletal mesh). So far I’ve been able to interact with objects phisically, only problem is that once it grabs an object with both sides of its claw nothing stops it from continue closing, it seems that the gamepad input just overrides the physics and it just goes through the object until it is fully closed.I need it to stop closing once it should not ne able to.
I looked around the collision settings and blueprint actions but I can’t figure anything out.

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