Encountering issues while using mocap

[Nikanbaturu]

Hi,

I'm a student and I encountered some difficult problems while using MuJoCo.
After setting up the simulation environment, I attempted to use Gym to test my environment. When I don't execute gym.step(), the mocap and gripper_center_link can be connected together.

However, once I execute gym. step(), mocap and gripper_center_link will separate.

In addition, when I use the keyboard to control mocap to test the movement of the robotic arm, there is also such a problems. It seems to indicate that the motion amplitude of the mocap is much greater than that of the end effector of the robotic arm, and the two do not match：

20240406.mp4

The above two questions have been bothering me for a long time, and I sincerely look forward to your answers!