Unstable Simulation combining UR10e with robotiq_2f85 gripper

[claudio-dg]

Which model is the issue affecting? UR10e and robotiq_2f85 gripper

What is the issue? I am trying to attach the formerly cited gripper to the UR10e: at the beginning the simulation was pretty unstable with the gripper "flickering" a lot; then i followed the advice given in the documentation setting the integrator to RK4. The "flickering" issue is actually solved, but another issue comes out that I wouldn't know how to tackle: as you can see from the images, the robot simply does not stand still anymore, but keeps moving on its own. What causes this behavior and how can I solve it?