Collision problem in pick and place in isaac sim

I followed the isaac sim tutorial pick and place to setup my own robot, and i find that although the robot can grasp the object, the gripper just go inside the object, how could i modify this to ask the gripper finger to stop on the object surface?

The grasp picture:
Screenshot from 2023-01-24 11-41-53

The collison:
Screenshot from 2023-01-24 11-42-46

enable CCD doesn’t help


It might help to increase the sim.physx.contact_offset parameter.

Also, you might find some help here: