gazebo_ros_controllers.yaml

# Gazebo works best with effort controllers
panda_arm_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - panda_joint1
    - panda_joint2
    - panda_joint3
    - panda_joint4
    - panda_joint5
    - panda_joint6
    - panda_joint7
  gains:
    panda_joint1: { p: 600, d: 30, i: 0 }
    panda_joint2: { p: 600, d: 30, i: 0 }
    panda_joint3: { p: 600, d: 30, i: 0 }
    panda_joint4: { p: 600, d: 30, i: 0 }
    panda_joint5: { p: 250, d: 10, i: 0 }
    panda_joint6: { p: 150, d: 10, i: 0 }
    panda_joint7: { p:  50, d:  5, i: 0 }

panda_hand_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
      - panda_finger_joint1
      - panda_finger_joint2
  gains:
      panda_finger_joint1: { p: 50, d: 5, i: 0, i_clamp: 1 }
      panda_finger_joint2: { p: 50, d: 5, i: 0, i_clamp: 1 }