Several options
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WalkingOverride on the table and handle how much depth you want before pushing them back out or however you want to deal with it.
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Inset player collision on tables
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Don’t run player collision at all on tables, there really isn’t a point to it, if you want to stand on them then the floor finding still works with the walking collision override.
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Waist tracker…least useful method as it depends on additional hardware (but has best results obviously)
Tables aren’t exactly a “solvable” issue collision wise with HMD + Hands, a lot of people are letting freewalk though things like tables and then teleporting the player out if the overlap goes over a set distance (with warning), but that only works for leaning if the player chooses to lean, they are free to just walk into the object to the extent you set anyway, so at that point why even bother with the faked lean mechanic and not just turn off table collision with the player?
Just like all gamedev, VR is currently a series of hacks and tradeoffs to get what you want.