arm_id: $(arg arm_id)

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

  finger1:
    gains: { p: 100, i: 25, d: 20 }

  finger2:
    gains: { p: 100, i: 25, d: 20 }

arm_id: $(arg arm_id)

m_ee:  0.76
franka_gripper:
  type:    franka_gazebo/FrankaGripperSim
  arm_id:  $(arg arm_id)

  finger1:
    gains: { p: 100, i: 25, d: 20 }

  finger2:
    gains: { p: 100, i: 25, d: 20 }

Use better default of `m_ee` to compensate hand gravity better
CHANGE: Use better default of `m_ee` to compensate hand gravity better
