Difficulty in lifting the pallet in gazebo

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Hi everyone I am having an issue in lifting the pallet in the gazebo with forklift. When the fork lifter makes contact with the pallet during the lift, it explodes and through the pallet away. I have calculated the inertial of mesh using Meshlab software according to this tutorial . and also i used theses gripper plugins by this tutorial.

Here is my URDF.

<?xml version="1.0" encoding="utf-8"?>
<robot name="lifter">

<link name="base_link">
  <inertial>
    <mass value="200.0"/>
<inertia  ixx="3.101666810512545" ixy="0" ixz="0" iyy="4.581666888395948" iyz="0" izz="4.6833334604899095" />

  </inertial>
  <visual>
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <geometry>
      <mesh
        filename="package://lifter/meshes/body.stl" />
    </geometry>
  </visual>
  <collision>
    <origin
      xyz="0 0 0.152"
      rpy="0 0 0" />
    <geometry>
    <box size='0.43 0.31 0.3'/>
    </geometry>
  </collision>
</link>

<!-- <gazebo reference="base_link">
  <material>Gazebo/White</material>
</gazebo> -->

<link name="fork">
  <inertial>
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <mass
      value="20" />
<inertia  ixx="0.05200166609041392" ixy="0" ixz="0" iyy="0.3172017380292505" iyz="0" izz="0.36845340415319205" />
  </inertial>
  <visual>
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <geometry>
      <mesh
        filename="package://lifter/meshes/lifter.stl" />
    </geometry>
  </visual>
  <collision>
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <geometry>
      <mesh
      filename="package://lifter/meshes/lifter.stl" />
    </geometry>
  </collision>
</link>

<joint name="fork_base_link" type="prismatic">
  <parent link="base_link"/>
  <child link="fork"/>
  <origin xyz="0.225 0 0.02" rpy="0 0 0"/>
  <axis xyz="0 0 1"/>
  <limit effort="1000.0" lower="0.0" upper="0.1" velocity="0.5"/>
</joint>

<transmission name="fork_base_link_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="fork_base_link">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="fork_base_link">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
</transmission>


<link name="left_wheel">
  <inertial>
    <mass value="2"/>
    <inertia ixx="0.01" iyy="0.01" izz="0.01"
    ixy="0" ixz="0" iyz="0"/>
  </inertial>
  <collision>
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <geometry>
    <cylinder radius="0.05" length="0.06"/>
    </geometry>
  </collision>
</link>

  <joint
    name="left_wheel"
    type="continuous">
    <origin
        xyz="0.11 0.13 0.05"
        rpy="-1.57 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_wheel" />
    <axis
      xyz="0 0 1" />
  </joint>

<link name="right_wheel">
  <inertial>
    <mass value="2"/>
    <inertia ixx="0.01" iyy="0.01" izz="0.01"
    ixy="0" ixz="0" iyz="0"/>
  </inertial>
  <collision>
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <geometry>
    <cylinder radius="0.05" length="0.06"/>
    </geometry>
  </collision>
</link>

  <joint
    name="right_wheel"
    type="continuous">
    <origin
        xyz="0.11 -0.13 0.05"
        rpy="-1.57 0 0" />
    <parent
      link="base_link" /> ...