Second time this week I've come here with a tough (for me!) physics problem.
I am working on a VR project where the player has physical hands that directly interact with the world (I am using Unity, but my issue is likely engine agnostic). Previously, the hands were a single rigidbody with several box colliders attached to roughly model out the shape of the hand (like a paddle). To make interactions more intuitive, the system was improved to instead be a static collider for the palm/wrist area, and then a series of rigidbodies for each digit, connected to …