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Are you following a tutorial? If you are, please update your question to include a link to the tutorial.

Have you tried using a larger effort value? Try an effort of 15 or 150.

I don't see anything obviously wrong with the configuration that you show, but you don't include your controller parameters. If your controllers aren't tuned properly, they probably won't issue the proper torque to the joint. You may want to edit your question to include your controller parameters.