Hand models are independent from the Grabbers and can be easily swapped out in the editor or at runtime.
The demo scene includes an example of how to change out hands by clicking in the left stick.
See /Scripts/Helpers/HandControllers.cs for an example script you can use to animate a hand model based on input and Grabbable / Grabber properties.
Whenever a Grabbable is held, it's HandPose ID will be sent to the Hand Model's Animator. You can use this to animate the state of the hands while an object is grabbed.