Concerns about Gripper Collisions in RAM Real-Robot Grasping

Hi,

I recently viewed the demo of the real robot performing grasping tasks on your project page `https://yuxuank.com/RAM/` and noticed that the gripper occasionally collides with the objects. Is this behavior intentional? Or is it due to inaccuracies in the planning algorithms or grasp prediction like GraspNet or AnyGrasp?

Thank you!