For a grasp pose, in DS, I normally create a camera that I use to get really close, pose the prop and use the dials in the hand and fingers to create the pose. I use them all, bend, twist, and side-to-side, and I move the camera all around to check for positions, for the fingers sinking into the prop, etc. Painstaking, but I know of no other way, other than using a premade pose set. I'm sure you know how to save the results as a pose.
Dana