The gripper always collide to object when motion planning in moveit

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Hello,

I tried to use moveit motion planning API to do picking and placing task. When I tried to approach my object, the planner always say it occur collision and failed.

[ INFO] [1572272017.376712612]: Planner configuration 'r1' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1572272017.376888070]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1572272017.658415351]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.658472166]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.658563486]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.658579389]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.658679813]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.658691351]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.658775652]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.658786130]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.658872482]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.658882703]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.658969226]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.658979052]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.659074077]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.659084620]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1572272017.659162838]: Found a contact between 'mouse' (type 'Object') and 'r1_eef_base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1572272017.659174710]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ERROR] [1572272017.960710946]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1572272017.960748823]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1572272017.960764057]: No solution found after 0.583973 seconds
[ INFO] [1572272017.960788859]: Unable to solve the planning problem

I just use planner to let robot move down vertically by approaching distance.

However, it is normal at rviz interactive function.

Does anyone know how to deal with this situation? Thanks.