you can handle 3 bodies: one is the physical body, the second is the non physical body, both of them are not visible, and 3rd a cometic body that is the one you see. this one has not physics, you just lerp it from physics transform to non physics transform.
or just two bodies (physical and cosmetic) and a scene component linked to the ant (the non physic body is just the one linked to the ant where you want to look like is holding it) in this case you lerp transform from physical to scene component
also when you finished transition from simulated to no simulated, you can turn set simulated OFF to the physical one for optimize