fix(franka_gazebo): hotfix for franka_ros#172

This commit reverts to using the old gripper PID gains since these make
sure that the Move action works. These gains however break the grasp
action. This fix will be applied till
frankaemika#172 has been fixed. The
downside of this fix is that the grasp action does timout. Without this
fix however the gripper is not able to work when it is not horizontal.

franka_gazebo/config/franka_hw_sim.yaml

@@ -6,10 +6,10 @@ franka_gripper:
   arm_id:  $(arg arm_id)
 
   finger1:
-    gains: { p: 100, i: 0, d: 1.0 }
+    gains: { p: 100, i: 25, d: 20 }
 
   finger2:
-    gains: { p: 100, i: 0, d: 1.0 }
+    gains: { p: 100, i: 25, d: 20 }
 
 # Motion generators PID gains
 # NOTE: Needed since the gazebo_ros_control currently only directly support effort hardware