Trials on my side were conclusive for the torque_qp controller.
Before modifying the velocity_qp controller, it would nice to check the implementation of this version.
This update should be seamless for the users, as long as they used torque_control.launch. However, for those calling the torque_qp from their own launchfiles, this update require that they change the call to the yaml, adding subst_value="true":
<rosparam command="load" file="$(find panda_qp_control)/config/torque_control.yaml" />
<rosparam command="load" file="$(find panda_qp_control)/config/torque_control.yaml" subst_value="true" />
A possible fix to avoid that issue, would be to create a second yaml with configurable arm_id, and keep the old one.