Meta interaction SDK: picked up items going through objects with collision.

I'm a newbie in vr and mixed reality development and I'm trying to create a game in unreal engine. I encountered an issue that if I grab an item and go through e.g. a virtual table with collision mesh. It doesn't react to this at all.

I figured that the interaction sdk is turning the physics off in their ISDKGrabTransformerComponent, but I changed that and it still goes through, but with a bit of stuttering and teleporting. I think that's the problem with the implementation, because it snaps the grabbed objects to my hand position and I totally understand it.

My question is: is there a way to bypass it, maybe some kind of thing that if I collide with object while grabbing another item it gets the position and it stays there until I don't end overlapping with it? But still I'm not sure how to implement this. If there is some kind of tutorial or anything let me know I need it for my school project.