Gripping Problem in Pick And Place Object Task

[saturndelta]

I am trying to do pick and place task with my 4-DOF arm. but whenever every time i try to pick cube or object the gripper is closing but not picking or lifting. i don't know what is the issue.

I have added USD file for my arm.

can anyone try to resolve it ?
I just want to make sure that object can be lifted by this arm.

[PeterL-NV]

Hi, Please checkout the Franka Pick and Place Example in Isaac Sim.