Collisions with out simulating physics?

I’m working off the VR templete and I’m trying to get a cube I pick up to trigger collisions on another object but I can’t seem to get it to work.

The object I’m going to hit is going to be stationary and not moving so I don’t want to simulate physics on it, yet that seems to be the only way I can get the cube I’m holding to trigger events on the object.

Is it possible to do collisions between objects without them having simulate physics on. That is no physics on any object but have them register at least overlap?

I know the object I’m holding has to have simulate physics off so that settles that bit.

What confuses me even more is the hands at least seem to trigger events but IDK why or how?