How to check if object is inside other objects in VR?

I’m creating a simple level to test VR. The basic level I have has a door which needs a keycard object to be unlocked. However, my issue is that I can pick up the keycard object with my Vive motion controller and place that keycard object inside an object.
For example, I can pick up the keycard, move my motion controller inside a wall, let go of the keycard, and now the keycard is stuck inside the wall.

How could I check if the keycard object is inside anyother object? My plan is to implement:
If keycard is inside object, teleport to its original spawn location.

I don’t know how thick is your wall and if trigger volume can fit inside, but have you tried to put a simple trigger box inside the wall and fire an event from that trigger ?