Yes, if you mean for the next grip, you can literally set it in the VRGripInterfaceSettings struct that comes with the grippables to whatever value you want (SetMembers), or even override the PrimaryGripType interface function on the object and pass out whatever you want.
If you mean DURING a grip then that is also possible, you can call
https://.bitbucket.io/VRExpansionPlugin/VR/GripMotionControllerComponent/nodes/SetGripCollisionType.html
Which will change the type of grip on the fly while holding it.