first simulated grasping state

config/panda_control.yaml

@@ -20,11 +20,15 @@
         state_publish_rate: 100
 
     panda_hand_controller:
-        type: position_controllers/JointTrajectoryController
+        type: effort_controllers/JointTrajectoryController
         joints:
             - panda_finger_joint1
             - panda_finger_joint2
 
+        gains:
+            panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
+            panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }
+
         state_publish_rate: 25
 
     joint_position_controller:

worlds/simulator.world

@@ -12,10 +12,10 @@
     <physics name='default_physics' default='0' type='ode'>
       <!-- the max step size is set to 0.001 by default. -->
       <!-- When increasing it, the simulation quality may suffer. -->
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.001</max_step_size>
       <!-- this factor actually is computed by multiplying the other two -->
-      <real_time_factor>0.2</real_time_factor>
-      <real_time_update_rate>100</real_time_update_rate>
+      <real_time_factor>1.0</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
     </physics>
   </world>
 </sdf>