3 questions about collisions

Unity Engine
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1

All are shown in video.

1 - How do I make my collisions smooth?
2 - How do I stop items from making me fly when I pick them up?
3 - Why do I sometimes slide excessively when I touch objects?

Thanks in advance!

2
  1. What do you mean with smooth?
    Unity has decently realistic collisions, just implement it right.
    2/3. Add the grabbable objects to a layer and the body to a layer. Then ignore collision between the 2. Otherwise you force a grabbed object into the body collider, making you fly up