In the two experiments of this study, we assessed the influence of target size and semantic category on the expression of reach-to-grasp kinematic parameters. Moreover, we investigated the influence of size and semantic category of distractors on reaches to the target. The experimental objects represented living and non-living categories and wide and narrow grasp sizes. Participants reached for and picked up mid-sagittally placed targets, which were either alone or flanked by distractors congruent or incongruent to semantic category and size of the target. In experiment 1, movement duration was faster to living objects. We could not replicate this, however, in experiment 2. Conversely, significant and reliable Category x Size interactions for grasp were obtained in experiment 1 and replicated in experiment 2. The pattern of the means in these interactions coincided with the absolute volumetric properties of the stimuli, indicating that the size of the stimuli was the main determinant of the expression of kinematic parameters. We conclude that volumetric properties such as size, rather than semantic category, are the crucial features in the programming and execution of movement to targets. As regards the category and size of the distractor, interference effects were evident: both category and size exerted a comparable influence on reaches to the target. The direction of interference, however, was not systematic. The interference effects are discussed in the context of visual search models of attention.