Issac sim problem

Omniverse Isaac Sim
1

hello,
I have a problem about simulation.

  1. why the robot vibrates when it grasps the bottle. It can not be stable.
  2. why the gripper opens automaticically when finishing every caresian motion. It opens 4,5 times during the motion
  3. It is very difficult to catch the bottle, how to improve the performance
    If you can any suggestion, please contact me under ziyutum@gmail.com.
2

I have posted this on the Isaac Sim channel

4

the simulation is based on the data transmittted via TCP to isaac. the franka is simulated by Apply_Action function (the joint positions are 9 item nparray.). When in the pause of data tamsmission, if no data, the gripper open automatically. Why does this happpen, How can it keep the pose not changed, when no data transfered.