DART6 Sticking Problem

Dear DART Community,

I am running DART 6 through Gazebo 11 and am simulating robotic grasping. I am running into a weird “sticking” problem when grasping cylinders or boxes. The problem occurs less when I grasp spheres. Here’s a video of the problem: https://youtu.be/-S55gZ7fCl8

I also asked this question in the Gazebo Forum I added a few more details there. Can you point me to any settings on the DART side, that would need to be taken to prevent this problem?

Thanks in advance,