It dosen't act as I expect when I use the torque mode in baxter simulator.

[geweihgg]

Hi,
I am a student who want to use the torque mode in simulator, so I test this using the command:
rostopic pub /robot/limb/right/joint_command baxter_core_msgs/JointCommand "mode:3 command: -5 names: -'right_s0'"
This command will pub -5Nm torque to the joint "right_s0", and move "right_s0" a little. But when I pub -1Nm torque to the same joint, I found that the joint will move a big angle. So I confused.
Another question is that in simulator, the "timeout" seems have no effect.
Looking forward to your answer.
Thank you very much.
GeWei