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Unusual dynamic in grasping

Hi all,

I was using gazebo to simulate planned grasping. I had observed some unusual dynamics going on with the robot gripper and the box items I created as target objects. in particular, it seems like the gripper is constantly colliding with the object. More details are included in the video I attached to this post: please jump to 0:30 to see what exactly is going on.

https://drive.google.com/file/d/1a1OAXSpzOiCBsFtk1g6C2Pv-MHVMG3fe/view?usp=sharing