Hello, i'm using Robot Simulation application to let a robot with a gripper to grab a cup. Here are some problems I met:

1. If I attach the gripper to the robot with the function " Set Tool" , the gripper does not move with the robot. But if I make the gripper as a part of the robot and define the engineering connection as "rigid", it would be fine,but in this case, the next problems accours

2. I created a robot task and made some trajectories then let the robot (with gripper) to grab a cup. I tried with the function( "Tool Attachment Activity" and "Grab Activity", but it still doesn't work.

Could anyone tell me where is it going wrong and how to fix it? Thank you in advance!