message: FIX: Allow finger joints to still be controlled while not in Move
diff: @@ -475,7 +475,8 @@ void FrankaHWSim::writeSim(ros::Time /*time*/, ros::Duration period) {
  // Retrieve effort control command
  double effort = 0;
  - if (not sm_.is(state<Move>)) {
  + // Finger joints must still be controllable from franka_gripper_sim controller
  + if (not sm_.is(state<Move>) and not contains(pair.first, "finger_joint")) {
  effort = positionControl(*joint, joint->stop_position, period);
  } else if (joint->control_method == POSITION) {
  effort = positionControl(*joint, joint->desired_position, period);
  