I'm not sure if it's at all possible in Maya (I've been using quite a lot of other programs to simulate animations) but I want to draw the sword out of the sheath, in a way that they don't collision with eachother, but rather the sword cleanly leaving the sheath. That's why I thought it would be easyest to make the sword itself an active rigid body, and the sheath a passive one, that is held in place with a constraint, so that the sword doesn't go through the sheath.