Insufficient torque on robot?

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Hi,

I have built a hexapod robot and was able to make it stand on all six legs. However when I use rqt_gui to lift a leg up, the robot lean downwards to the side that the leg was lifted up. I have checked the other legs and they all have the setpoint (for standing up-this means that i didn't accidently write to the other joints). I am controlling it through ROS and using effort_controllers/JointPositionController.

This seems to lead me to think that there's insufficient torque on the joints but isn't the joint torques not capped?