Rigid Body penetrating Soft Body

[HirakBasumatary]

PyBullet_Grasping-2024-01-12_19.52.41.mp4

Can someone point out why this is happening ? The robot hand is a rigid body (URDF File) and the cylindrical object is a .vtk file (deformable object). The robotic hand is trying to grasp the cylindrical object. The .vtk file is generated by the following steps:

(i) .stl from solidworks
(ii) .msh file from fTetWild
(iii) .vtk file from GMSH

I have used the following arguments for loading the softbody

self.rigidId = p.loadSoftBody("Cylindrical_object_2_ascii.vtk", basePosition = [0,2,5], scale = 0.005,
mass = 1, useNeoHookean = 1, NeoHookeanMu = 500, NeoHookeanLambda = 2000, NeoHookeanDamping = 10, useFaceContact = 1, useSelfCollision = 1, springElasticStiffness = 1000, springDampingStiffness = 10, springDampingAllDirections = 5,
springBendingStiffness = 0.1, frictionCoeff = 1, collisionMargin = 0.001)

[HirakBasumatary]

@erwincoumans