Scaling down the Franka causes it to slow down.

[StoneWang-cn]

When running the "hello, genesis" routine, I need to scale it by 0.2. I noticed that the arm falls very slowly (as seen in video.mp4). Even when I set dofs_damping to 0, the arm still falls relatively slowly(as seen in video1.mp4). What is causing this?

franka = scene.add_entity(
    gs.morphs.MJCF(
        file="xml/franka_emika_panda/panda.xml",
        scale = 0.2,
    ),
)

video.mp4

jnt_names = [
    "joint1",
    "joint2",
    "joint3",
    "joint4",
    "joint5",
    "joint6",
    "joint7",
    "finger_joint1",
    "finger_joint2",
]
dofs_idx = [franka.get_joint(name).dof_idx_local for name in jnt_names]
franka.set_dofs_damping([0]*9,dofs_idx)

video1.mp4