Question Beginner : using colliders for VR

Hi

Beginner with Unity I tested simple object (cube) with box/mesh collider, interactable and throwable to take them and move them in VR. It workeds well.

However, I find that with these colliders I can't get them closer to each other, so I would like to try the following two things using VR.

1 - A first test like here:
I would like to fit one cylinder into another, which would be held by gravity by the circle.

2 - Another test like here:
I would like the small parallelepipeds to fit into the cube without falling out (without gravity).

Is that possible ?

Thanks in advance for your return.