3d controller, object, collision

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princemac

I have problem with collision, i have "RigidBody" i can pick up and move this object. But i have problem with collision, object through walls and floors. And when i jump into object is go away from player. This is first problem. The second is when i grab object, and rotated player, object is rotated too. I want see the object opposite player camera.

Here is the line code

if Input.is_action_just_pressed("pick"):
	if held_object:
		held_object.mode = RigidBody.MODE_RIGID
		held_object.collision_mask = 1
		held_object = null
	else:
		if _raycast.get_collider():
			held_object = _raycast.get_collider()
			held_object.mode = RigidBody.MODE_KINEMATIC
			held_object.collision_mask = 0
			
		
if held_object:
	held_object.global_transform.origin = _hold_position.global_transform.origin

Can anybody explain and help?