My baby reached dangling toys with his legs instead of hands. He is 13 weeks now and still not interested to reach gym stuff except with his legs.. but if I put something really close to this hand he might occasionally hold it but Definately doesn’t come naturally.
initially they just bat randomly with their hands. then they will occasionally grasp something randomly there is a grasp reflex I think that helps. Then gradually over few weeks they learn how to do this on purpose. Mine was four months when this process started I think.