yes as long as u dun poke it and squash it. touching it with ur hands is ok. but wash ur hands with soap after doing so. standard procedure when handling marine stuff. u dun wanna get the runs
palys are not just poisonous, they are extremely poisonous. with sufficient amount of palytoxin in ur bloodstream, it can be fatal but i think u will need ALOT of palys to kill u. still, better to be safe than sorry. and i dun think anyone has died from it yet. just be careful when handling them. dun hold them near ur eyes and squish them. sometimes they squirt water and that can get into ur eye. which hurts like hell.
anyway, its not so easy to die from a paly la. lol. dun be afraid. just handle them like u would, any other corals. ppl frag zoos and palys everyday and none of them have died. i think. just remember to wash ur hands!