Unity XR component to move objects relative to their original position.

OffsetGrabInteractable.cs

using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;

public class OffsetGrabInteractable : XRGrabInteractable
{
    Vector3 interactorPosition;
    Quaternion interactorRotation;

    protected override void OnSelectEntered(XRBaseInteractor interactor)
    {
        base.OnSelectEntered(interactor);

        interactorPosition = interactor.attachTransform.localPosition;
        interactorRotation = interactor.attachTransform.localRotation;

        var hasAttachTransform = attachTransform != null;
        interactor.attachTransform.position = hasAttachTransform ? attachTransform.position : transform.position;
        interactor.attachTransform.rotation = hasAttachTransform ? attachTransform.rotation : transform.rotation;
    }

    protected override void OnSelectExited(XRBaseInteractor interactor)
    {
        base.OnSelectExited(interactor);

        interactor.attachTransform.localPosition = interactorPosition;
        interactor.attachTransform.localRotation = interactorRotation;
    }
}