VR Roomscale Collision Interpenetration Issue

I’m having an issue with blocking collision when my VR player (inherits from the Character class, has the capsule collider) moves in certain ways in roomscale.

Picture this:

There’s a desk in front of me, about waist height. It’s a WorldStatic object and has a simple box collider around it. I can walk up to it and collide (correctly), but if I physically walk forward in roomscale and force myself into the desk, the capsule collider on the character can end up inside the box collider and this seems to cause the player to step up onto the object.

Anybody know how to stop this from happening?