How to make my VR physics less terrible?

hello,
i have a project with the xr toolkit for input, and when trying to move rigidbodies they clip thru walls + i can fly thru walls if i pick up the rigidbody while too close to it. how could i fix this? thanks

Hi,
How about checking if the object is about to clip thru a wall, and correct the position away from the wall? By moving the object within the hand. And perhaps let you drop it if you force it to close to the wall. I guess another option is to prevent the whole hand to move through the wall.

not going to get good physics with xr toolkit, I use this asset to get alyx and boneworks style physcs in my game