About the simulate tm5-900 with robotiq_85 in the gazebo11

[EmperorSoda]

Hi I am CHENG,HSIANG-YUN from Taiwan. I have some question about the tm5-900 model in gazebo11.
when I give it pid parameter to control robot arm that use gazebo_ros_control.yaml.
but the model in gazebo always have some shakes especially wrist_1 wrist_2 and wrist_3.
so when i take the gripper which is named robotiq_85 into the end effector of the tm5-900 in the gazebo11,
always be shaked too.
I can't control the gripper when it install on tm5-900 model.
My question is
----1. Does the robot_description which is named macro.tm5-900-nominal.urdf.xacro or tm5-900-nominal.urdf file have any problem to
its inertia or mass or mesh or pid parameter?
(I think transmission or gazebo plugin doesn't have any problem)
----2. if question1 doesn't , please let me know how to fix a shake about tm5-900 in the gazebo 11.
I need to integrate the tm5-900 with robotiq_85 for my research.
please help me solve this problem.
p.s I don't use TM-flow.I need to simulate tm5-900 in gazebo to collect the data and use script file to run the simulation
version
-----ubuntu 20.04
-----ros noetic
-----gazebo classic 11
-----tmr_ros1 noetic
figure1 tm5-900 in gazebo(rqt trajectory)
I sorry to the picture can't easy see the problem

figure 2 tm5-900 with robotiq_85 in gazebo

figure 3 ur5 with robotiq_85 in gazebo
I want to make tm5-900 like this one