Gripper arm collision help

I have a gripper claw, on a trigger pull the gripper arms rotate closed and grab the bolt, but the collisions cause the bolt to freak out and pass through the collision gripper mesh.
I’m trying to setup a robot gripper arm to remain as true to life as possible meaning if they don’t have a good grip the bolt could fall out of the gripper. Ultimately there will be other items of various shape and size they would try to pickup with different physical properties.

While I know I could turn off the collisions on the bolt when its grabbed I’d like to avoid that if possible since I want to behave realistically, if they bump something, the bolt might fall. Anyone have any insight on the best way to go about something like this? Currently it seems like the collisions are a iffy when dealing with convex or concave surfaces.