Anomalies in particle simulation when importing Franka

When I introduced Franka, the movement of the particles appeared to move in a way that was not expected. The normal should be to drop and stabilize at a flat bottom. But after introducing it there is a strange movement. What do I need to do to make the particle simulation appear normal as it does at the beginning of the video?

Hi @1779789201,
I don’t know what could be causing this. Does this also happen if the robot is placed before the simulation starts?
Is it possible for you to share the stage files so we could try to reproduce?