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Changing from position_controller to effort_controller is no longer sending joint position commands, but effort commands. This implies that each actuator uses up to the max_effort set in the URDF, as well as the PID gains in order to minimize the error between the current joint position and the commanded joint position. Because of this, the joints are not always able to perfectly control the joint position bent commanded. This is what is shown in the second image you provided, and is more realistic.