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One of my grave frustrations with posing characters is I end up with penetration of object meshes when posing. For instance I have a glass on a table and I want to pose a character's fingers to "grip" the glass but not go through the surface.

Is there a way to use snapping in conjunction with posing to get that done?

Interesting question. I did some very quick tests with a MHX2 rig. I activated face snapping and tried to use it on an ik-bone. Technically snapping seemed to work, though I recognized some sort of self snapping on the model's mesh, too. I'm not sure if this makes the posing process easier.

You could also try a combination of constraints. If you have an IK bone you could make it "child of" an empty, With a somewhat counter-intuitive approach you could then (probably, didn't test) shrink-wrap the empty's location to a surface: https://blender.stackexchange.com/quest ... constraint. (Use the constraint shrinkwrap, not the modifier shrinkwrap)

Man, it seems like there are so many possibilities. That's what I love about makehuman.