update pid gain

Author: Darby Lim

open_manipulator_gazebo/config/gazebo_controller.yaml

@@ -1,45 +1,45 @@
 gazebo_ros_control:
   pid_gains:
     joint1:
-      p: 5000.0
-      i: 80.0
-      d: 50.0
+      p: 100000.0
+      i: 1000.0
+      d: 100.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint2:
-      p: 5000.0
-      i: 80.0
-      d: 50.0
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint3:
-      p: 5000.0
-      i: 80.0
-      d: 50.0
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
     joint4:
-      p: 5000.0
-      i: 80.0
-      d: 50.0
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    gripper:
+      p: 100000.0
+      i: 1000.0
+      d: 500.0
+      i_clamp: 0.2
+      antiwindup: false
+      publish_state: true
+    gripper_sub:
+      p: 100000.0
+      i: 250.0
+      d: 1000.0
       i_clamp: 0.2
       antiwindup: false
       publish_state: true
-    # gripper:
-    #   p: 50.0
-    #   i: 0.5
-    #   d: 30.0
-    #   i_clamp: 0.2
-    #   antiwindup: false
-    #   publish_state: true
-    # gripper_sub:
-    #   p: 50.0
-    #   i: 0.5
-    #   d: 30.0
-    #   i_clamp: 0.2
-    #   antiwindup: false
-    #   publish_state: true