[Bug]: SO101 unable to pick up elastic object

import numpy as np
import genesis as gs
from lerobot.teleoperators.so101_leader import SO101LeaderConfig, SO101Leader

gs.init(backend=gs.gpu)

scene = gs.Scene(
    sim_options=gs.options.SimOptions(
        dt=1e-2,
        substeps=33,
    ),
    mpm_options=gs.options.MPMOptions(
        lower_bound=(-1.5, -1.5, -0.5),
        upper_bound=(1.5, 1.5, 1.5),
    ),
    rigid_options=gs.options.RigidOptions(
        box_box_detection=True,
    ),
    vis_options=gs.options.VisOptions(
        visualize_mpm_boundary=True,
    ),
    viewer_options=gs.options.ViewerOptions(
        camera_pos=(1, 1, 1),
        camera_lookat=(0.0, 0.0, 0.0),
        camera_fov=30,
        max_FPS=30,
    ),
    show_viewer=True,
)

cam = scene.add_camera(
    res=(1280, 960), pos=(1, 1, 1), lookat=(0.0, 0.0, 0.0), fov=30, GUI=False
)


teleop_config = SO101LeaderConfig(
    port="/dev/ttyACM0",
    id="sutie_leader",
    use_degrees=True,
)
teleop_device = SO101Leader(teleop_config)

plane = scene.add_entity(
    gs.morphs.Plane(),
)

so101 = scene.add_entity(
    gs.morphs.MJCF(
        file="assets/so101_new_calib.xml",
        pos=(0.0, 0.0, 0.0),
        euler=(0, 0, 0),
    ),
)

sponge = scene.add_entity(
    material=gs.materials.MPM.Elastic(),
    morph=gs.morphs.Box(
        size=(0.04, 0.04, 0.04),
        pos=(0.15, 0.15, 0.1),
        euler=(0, 0, 0),
    ),
    surface=gs.surfaces.Default(
        color=(1.0, 0.4, 0.4),
        vis_mode="visual",
    ),
)

joints = [
    "shoulder_pan",
    "shoulder_lift",
    "elbow_flex",
    "wrist_flex",
    "wrist_roll",
    "gripper",
]

dof_indices = [so101.get_joint(name).dof_idx for name in joints]

scene.build()
teleop_device.connect()


def convert_action_to_genesis(action):
    return np.array(
        [
            np.deg2rad(action["shoulder_pan.pos"]),
            np.deg2rad(action["shoulder_lift.pos"]),
            np.deg2rad(action["elbow_flex.pos"]),
            np.deg2rad(action["wrist_flex.pos"]),
            np.deg2rad(action["wrist_roll.pos"]),
            np.deg2rad(action["gripper.pos"]),
        ]
    )


cam.start_recording()

try:
    while True:
        action = teleop_device.get_action()
        dof_positions = convert_action_to_genesis(action)
        so101.control_dofs_position(dof_positions, dof_indices)
        cam.render()
        scene.step()
except Exception as e:
    print(f"Error: {e}")
finally:
    cam.stop_recording("./so101_teleop.mp4")