Yes, absolutely, it is due to gravity. If an object has enough mass, it will slowly crush itself down into a sphere – though if that object has a spin, it may bulge at the axis of its spin.
It is also one of the defining characteristics of an object being big enough to warrant being classed as a ‘planetoid’, the fact that it is large enough to collapse to a sphere under its own gravitational pull. Most meteors, even the enormous Ceres, are not quite big enough to be spherical.
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