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This seems to be enough force to move the UR10e
What tool did you get to get those values?
I did a quick check here and got approximately 121Nm for the shoulder lift and 34Nm for the elbow when the arm angles are all zero.
Precisely, [ -0. , -120.812, -33.961, -0. , 0. , 0. ]
I'm loading the UR10e URDF from the Universal_Robots_ROS2_Description into Pinocchio and using pin.computeStaticTorque(model, data, q, fext)
Not 100% sure that's right but you might want to get a second opinion on the expected torques depending on the initial posture of the robot. If it's dangling down like pendulum the joints will absolutely move but if it's starting out lying more or less horizontal on the Gazebo floor it might not.
You might try using the position controller in Gazebo and put the robot in some pose and see what the joint efforts are.
ur_e_description
Are you building from source? Using Kinetic?
I think things changed a lot around the time of https://github.com/ros-industrial/universal_robot/issues/448 and I think that unified everything into a single ur_description
I wonder if the joint inertias are different. It's been a long time, over a year, since I was working with the ROS 1 driver in Gazebo so my memory is kind of fuzzy, but I think there were some changes to the UR10e inertias. Hopefully someone else can bring some clarity on that.
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