Pickup object in Gazebo : graspped object doesn't move [closed]

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Hi,

I want to simulate pick and place in Gazebo with a Robotiq gripper. I can grasp objects, I detect the contact, that is published in gazebo topics and that I use in my gripper controller, but sometimes the gripper "go through the object" -see here- and I can't move the object (here it is a glass).

The object is the plastic_cup from gazebo_library (see below). I just added kp and kd, because I couldn't grasp the glass at all, I think the collision was to big, so I simply added the kp and kd parameters from the coke can -fom gazebo library too-. I don't know well how to define these parameters.

    <model name='plastic_cup'>
      <link name='link'>
        <pose>0 0 0.065 0 -0 0</pose>
        <inertial>
          <mass>0.0599</mass>
          <inertia>
            <ixx>0.000302896</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000302896</iyy>
            <iyz>0</iyz>
            <izz>3.28764e-05</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://plastic_cup/meshes/plastic_cup.dae</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
                <ode>
                    <kp>1e+07</kp>
                    <kd>1e+05</kd>
                    <max_vel>0.1</max_vel>
                    <min_depth>0.001</min_depth>
                </ode>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://plastic_cup/meshes/plastic_cup.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/GreyTransparent</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>-1.55427 -1 0 0 -0 0</pose>
    </model>

What happens? Why can't I move the objects I grasp?

Thanks