Why are contacts detected even though the meshes are not colliding?


I am simulating the Franka panda gripper and seem to have found an issue in collision detection. The issue, which is shown in the video below, is that the fingers of the gripper seem to collide with each other before the actual collision meshes do so.

Does anyone know what I should do to solve this? I have set the contact offset to 0 so this should not be the problem.