No force feedback and showing 2 objects instead of one

[el22pm]

Hello,
I have a project in which
I have to make a environment to import davinci model
A soft tissue model

and then lift the tissue with the gripper of the arm.
Attach a force feedback on gripper to see the changes in resistive force while lifting.
This way we then increase gripping force to prevent it from slipping

I am managed to import arm and soft tissue in the environment

I am facing two Issue in this

1. When I use rostopic I am not getting force feedback option on gripper even though I enabled it "true" in both psm1 and psm2.
   
   
   

2. To make tissue stay on the ledge of the simulation I inserted tissue properties directly in .yaml file. But when I start the simulation two bodies are generated. One standard .3DS solid file, which I can lift with my gripper. and another proper soft tissue which I cannot lift with my gripper.
   
   

Note:
I didnot used blender to make this changes as it was not running for me
I have attached my file for referance

Thanks in advance