Layers vs Interaction Layers for XR Interaction Toolkit

Hi

I am bit confused on the relationship between an interaction layer mask, and the layer an object is physically on.

As far as the tutorials I have followed are concerned, if I have an interaction mask layer set to "Teleport", I don't need to physically assign a locomotion target to the "Teleport" layer, I just need to state that the interaction grab object mask setting "includes" the "Teleport" layer as part of its mask.

I am unsure on the interplay between an actual layer an object is on and the interaction mask, as things started to break when I needed to change physics interactions between layers, as I was then unable to grab them.

My situation is I have a Door I need to grab on a hinge. I placed the door object on a Doors layer. In my physics settings, I dont want the Door to collide with anything (i..e a floor, door frame object etc,) so stopped my Door layer in the physics setting from colliding with anything else. Then I set my Interactions to include Door as an interaction mask layer, and nothing worked.

Thanks

Stephen