[Question] How do I allow colliders to "rest" ontop of against oneanother?

[ELI7VH]

trying to make a little demo here, and I will eventually be placing things in a kind of shelf, or on desktops.

I was wondering what configuration would allow objects to just simply "lay" ontop of or against one another.

right now I get kind of a weird jiggling, until all the pieces are laying flat against the static floor.

example: https://elijahlucian.ca/vr/

code: https://gitlab.com/elijahlucian/elijahlucian.ca/-/blob/master/vr