esd is just discharge of charged electricity stored in your body. Theres lots of ways to charge yourself like rubbing your socks on the carpet. If you have something grounded (plugged in psu) and you touch it, youll discharge that electricity to ground. If you just touch your case before working on your computer, you should be fine. Unless your computer is on, you (probably) wont cause damage to your components. When you discharge electricity into a component of your system, itll just pass through that component and probably back to ground. You can tell if you broke something if your computer doesnt work after a discharge and some troubleshooting.
Watch this video by linus and electroboom to learn a bit more
https://www.youtube.com/watch?v=nXkgbmr3dRA&t=433s
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