Picked up objects passes through objects

As the title says when ever i pick up an object in my game the picked up item phases through other objects such as the walls and floor. How can I stop this?

 using UnityEngine;
 using System.Collections;
 
 public class GrabAndDrop : MonoBehaviour {
     GameObject grabbedObject;
     float grabbedObjectSize;
     
     
     GameObject GetMouseHoverObject(float range)
     {
         Vector3 postion = gameObject.transform.position;
         RaycastHit raycastHit;
         Vector3 target = postion + Camera.main.transform.forward * range;
         if (Physics.Linecast(postion, target, out raycastHit))
             return raycastHit.collider.gameObject;
         return null;
     }
 
     void TryGrabObject(GameObject grabObject)
     {
         if (grabObject == null || !CanGrab(grabObject))
             return;
         grabbedObject = grabObject;
         grabbedObjectSize = grabObject.GetComponent<Renderer>().bounds.size.magnitude;
 
     }
     
     bool CanGrab(GameObject candidate)
     {
         return candidate.GetComponent<Rigidbody>() != null;
     }
     
     void DropObject()
     {
         if (grabbedObject == null)
             return;
         if(grabbedObject.GetComponent<Rigidbody>()!= null)
            grabbedObject.GetComponent<Rigidbody>().velocity = Vector3.zero;
         grabbedObject = null;
     }
     void Update() {
         if (Input.GetMouseButtonDown(1))
         {
             if (grabbedObject == null)
                 TryGrabObject(GetMouseHoverObject(5));
             else
                 DropObject();
         }
    
         if (grabbedObject != null)
         {
             Vector3 newPosition = gameObject.transform.position+Camera.main.transform.forward * grabbedObjectSize;
             grabbedObject.transform.position = newPosition;
         }    
     }
 }

Thanks in advance for anyone who could help me.

PS. I just started learning C# by following tutorials so an easy explanation would be nice.