Controlling the UR10e via the effort command in the Gazebo environment

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Hello. I'm trying to control a UR10e with the effort command in my Gazebo simulation. The effort value I am currently giving each joint is [0.0, -71.0770284, -23.0658876, 0.0, 0.0, 0.0]. This seems to be enough force to move the UR10e. However, on the Gazebo, the UR10e does not move at all, despite receiving the effort command correctly. Passing a very large effort value will cause the joint to move, but that doesn't seem right. Did I something wrong?

UR10e urdf is from the ur_e_description package, and transmission and gazebo_ros_control plugins have been added as follows.

    <?xml version="1.0" encoding="utf-8"?>
<robot
  name="ur10e">
  <link name="world"/>

  <joint name="world_to_ur10e" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="world"/>  
    <child link="base_link"/>  
  </joint>  
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://ur10e_description/meshes/ur10e/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur10e_description/meshes/ur10e/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
    </inertial>
  </link>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.181"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="package://ur10e_description/meshes/ur10e/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur10e_description/meshes/ur10e/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="7.778"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
    </inertial>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.176 0.0"/>
    <axis xyz="0 1 0"/>

    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur10e_description/meshes/ur10e/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package ...