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The issue is for sure related to the fact that the Gazebo simulator starts with electric grippers in the /robot_description parameter. By default the launch file that you are running for MoveIt! doesn't assume that there are electric grippers attached. More precisely, the SRDF that gets loaded doesn't explicitly exclude collisions between the gripper fingers and the grippers themselves. If you update your MoveIt! command to be
roslaunch baxter_moveit_config demo_baxter.launch right_electric_gripper:=true left_electric_gripper:=true
the issue should disappear. Those gripper arguments (now true) get passed to planning_context.launch which, in-turn, feeds them to baxter.srdf.xacro to build the SRDF. Since the values are now true, the baxter.srdf.xacro file now includes the rethink_electric_grippers.srdf.xacro file for the left and right side. You can see that this file adds many tags that prevent collision checking for links that are part of the gripper.
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