Attached Object is in Collision with link

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Hello, I am wondering what the proper way of attaching an object and then motion planning with that object would be. As it stands, my object attaches and then gets stuck because it's in collision with the "gripper" link which is what I'm attaching to. I was trying to go through the ROS API Planning Scene tutorials. This is the error that I get:

Found a contact between 'gripper_rectangle_base' (type 'Robot link') and 'bolt' (type 'Robot attached'), which constitutes a collision. Contact information is not stored.

Thank you