Import UR5e＋2F-85 asset in Isaac Sim 4.2.0

Omniverse Isaac Sim
1

Hello.

I have created an asset combining the UR5e and Robotiq 2F-85 in Isaac Sim 4.2.0. However, when I import it into the environment, the model exhibits erratic behavior even though I am not controlling it. No error codes are occurring.

I am also attaching the asset and program I created for reference.

Asset(UR5e+2F-85)：
ur5e_2f85_jointed_rev.zip (4.2 MB)

Program：

from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.robots import Robot


class HelloWorld(BaseSample):
    def __init__(self) -> None:
        super().__init__()
        return

    def setup_scene(self):
        root_path = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.0"
        my_world = self.get_world()
        # set up paths and prims(UR5e)
        ur5e_name = "UR5e"
        ur5e_prim_path = "/UR5e"
        ur5e_path = "http://localhost:34080/omniverse://localhost/Projects/ur5e_2f85/ur5e_2f85_jointed_rev.usd"

        env_prim_path = "/Simple_room"
        env_usd_path = root_path + "/Isaac/Environments/Simple_Room/simple_room.usd"

        # set references to staget in isaac
        add_reference_to_stage(usd_path=ur5e_path, prim_path=ur5e_prim_path)
        add_reference_to_stage(usd_path=env_usd_path, prim_path=env_prim_path)

        ur5e = my_world.scene.add(Robot(prim_path=ur5e_prim_path, name=ur5e_name))

        return

    async def setup_post_load(self):
        self._world = self.get_world()
        self._ur5e = self._world.scene.get_object("UR5e")
        return

If anyone knows the cause and solution, I would appreciate your help.

Thank you in advance.