franka_hw_sim.yaml

arm_id:                           $(arg arm_id)
singularity_warning_threshold:    0.0001               # print a warning if the smallest singular value of J x J^T drops below this value (use -1 to disable)
tau_ext_lowpass_filter:           1.0                  # Exponential Moving average filter: range between and zero (infinite delay) one (no filtering)

franka_gripper:
  type:    franka_gazebo/FrankaGripperSim
  arm_id:  $(arg arm_id)

  finger1:
    gains: { p: 100, i: 0, d: 1.0 }

  finger2:
    gains: { p: 100, i: 0, d: 1.0 }

# Motion generators PID gains
motion_generators:
  position:
    gains:
      $(arg arm_id)_joint1: { p: 600, d: 30, i: 0 }
      $(arg arm_id)_joint2: { p: 600, d: 30, i: 0 }
      $(arg arm_id)_joint3: { p: 600, d: 30, i: 0 }
      $(arg arm_id)_joint4: { p: 600, d: 30, i: 0 }
      $(arg arm_id)_joint5: { p: 250, d: 10, i: 0 }
      $(arg arm_id)_joint6: { p: 150, d: 10, i: 0 }
      $(arg arm_id)_joint7: { p:  50, d:  5, i: 0 }
  velocity:
    gains:
      $(arg arm_id)_joint1: { p: 30, d: 0, i: 0 }
      $(arg arm_id)_joint2: { p: 30, d: 0, i: 0 }
      $(arg arm_id)_joint3: { p: 30, d: 0, i: 0 }
      $(arg arm_id)_joint4: { p: 30, d: 0, i: 0 }
      $(arg arm_id)_joint5: { p: 10, d: 0, i: 0 }
      $(arg arm_id)_joint6: { p: 10, d: 0, i: 0 }
      $(arg arm_id)_joint7: { p:  5, d:  0, i: 0 }