[ODE] Box Penetration

[Mohamed Matar]

I am trying to simulate a couple of boxes squeezed between two Plates
(bigger boxes). The problem I have is that, some boxes penetrate the Plates
and even come from the other side. I was hoping they will prevent the plates
from coming together but some particles pass through. I have increased
number of contact points, but did not see much improvement. I also decreased
the time step and used dworldstep of 0.02, but still particle passes. I am
trying changing mass of plates now.

Can any one tell me how to prevent penetration. I stuck and would really
appreciate the  help

Thanks

P.s.
This penetration is more obvious if the corner is the contact point.