PhysActor cliping thorugh other PhysActor

I’m making a game where you can grab things in VR. I pretty much have everything working however when you grab something, it looks like this:


As you can see, the cube is clipping through the hand.

My question is: how do I get the cube to not clip through the hand? Both the Hand and the Cube blueprints I believe have the correct collision settings. Here are the current collision settings for the hand:

And here are the collision settings for the cube: