I'm working with the simple "panda_lift" env with "OSC_POSITION" controller. I'm trying to collect expert demonstrations through "collect human_demonstrations.py" script. But I often observe that the robot ends up with a gripper orientation which does not support picking up the object although the robot is position-wise close to the object. Please refer to the image below for reference.

The main problem is that the gripper orientation changes continuously while we update "OSC_POSITION". Is there a way to suggest the robot controller to keep the gripper orientation constant (parallel to the table in my case) while still obeying "OSC_POSITION" commands? This would allow the robot to consistently perform the lift task.