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Help - Hands Physics Collision

Hello all,

I was hoping someone could help me with something i have been trying but could not be successful in completing, I saw this IK Rig video form Ubisoft and i was wondering how i could make my 3rd person character touch the wall when approaching it…like in this video at 59s : https://youtu.be/hRdksD5X8SM?t=59s

thank you in advance for everyone who answers…