There's two different parts to your chest: The bottom part and the top part which would open up like so
One thing to understand is that 'static' objects are expected to never move throughout the scene e.g. a bridge, or a building
Sounds like in your case, the base of the chest would not move, so indeed it should be static, but if the top part can open, then it should not be static.
What about kinematic? From unity docs: If the object is kinematic, "Forces, collisions or joints will not affect the rigidbody anymore." i.e. you will not be able to grab onto the chest's top part and open it up. This means that the top part should not be kinematic either.
What about the actual implementation? I think you were on the right track adding hinge joints between the bottom and the top part of the chest. You'll probably need to tweak the values of hinge joints until you find what works for you. A good way to test if the hinge joints are working is to add the 'Constant Force' component onto the top part of the chest.
Once you know that the hinges are working, the next step would be to make the VR hands be able to grab the top part (either the whole thing or just a handle). Here what you could do is once the player's hand is close enough to the top part of the chest, if he grabs it, create a joint between the top part of the chest and the player's hand. Then the top part of the chest will follow the player's hand.
Here's a video that shows how to do that, except he's doing it with a door. Same concept applies to your chest though. https://www.youtube.com/watch?v=3cJ_uq1m-dg