Rigidbody.MovePosition doesn't look smooth

My plan is that a gameobject with a rigidbody attached to it should follow a target object. In my script the gameobject does follow the target but it doesn't look smooth. Is there any other way to make a rigidbody smoothly follow a gameobject? I tried using Vector3.MoveTowards and it looks better but the object doesn't collide with other objects. Thats not what I need. private void FixedUpdate() { if (isCarrying == true) { Vector3 target = followTarget.transform.position; currentItem.GetComponent().MovePosition(target); } }