Articulation inspector behaves weirdly after GPU is enabled in the scene

I have a deformable body in my scene along with a robot model. I am trying to move the robot using articulation inspector but it behaves in weird way and does not follow the joint states where I drag the cursor. On the other hand if I disable the GPU dynamics in PhysicsScene, it works as expected. What can be done in this case?

Just a little update, I tried the same USD and scene in 2022.2.1 version and it works well. So the issue is with the newest IssacSim version only. But also I am unable to get forces via Articulation.get_measured_joint_forces() method in older version.