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I want to add props to a scene and I want them to be static until something collides with one of their colliders. I thought it would make sense to have Rigidbody.useGravity set to false until the collider on the object triggered and I then set useGravity to true. The point was to not have a lot of props with physics properties until they needed to move. I thought it would also help with things like lamp posts that would fall over if not anchored. However, my script simply turns on gravity and the object falls without colliding with the ground. When gravity is on at the start, the object does not fall through the ground.

What am I doing wrong? Is there a better approach?

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You have to add a collider component to both the ground and the prop.

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Ah Ha! >> How can I make my physics objects stay frozen (eg in mid-air) until touched by another object? - Questions & Answers - Unity Discussions

myRigidBody.Sleep();