VR Expansion Plugin

In the template scene, i am able to climb the cubes very steadily and stable, because my hands could grab onto the cube even when reaching deep into its center.

However when i import my own objects to climb, i could only grab hold of the surface skin area of the object, which is a very thin peripheral area. If my hands just grab a little deeper into the object, it will loose grip and i will fall down from my climb.

How to make any objects “deeply grabable” just like the cubes for climbing in the template?