Remove integral terms in pid_efforts.

roscontrol_sot_talos/config/pids_effort.yaml

 gains:
-  leg_left_1_joint:  &leg_1_gains {p:  100, d: 0, i:  5, i_clamp:   7, torque_clamp: 60}
-  leg_left_2_joint:  &leg_2_gains {p:  120, d: 0, i:  5, i_clamp:   14, torque_clamp: 160}
-  leg_left_3_joint:  &leg_3_gains {p:  100, d: 0, i:  5, i_clamp:   14, torque_clamp: 160}
-  leg_left_4_joint:  &leg_4_gains {p:  130, d: 0, i:  5, i_clamp:   25, torque_clamp: 300}
-  leg_left_5_joint:  &leg_5_gains {p:   75, d: 0, i:  5, i_clamp:   14, torque_clamp: 160}
-  leg_left_6_joint:  &leg_6_gains {p:   75, d: 0, i:  5, i_clamp:   9, torque_clamp: 100}
+  leg_left_1_joint:  &leg_1_gains {p:  100, d: 0, i:  0, i_clamp:   7, torque_clamp: 60}
+  leg_left_2_joint:  &leg_2_gains {p:  120, d: 0, i:  0, i_clamp:   14, torque_clamp: 160}
+  leg_left_3_joint:  &leg_3_gains {p:  100, d: 0, i:  0, i_clamp:   14, torque_clamp: 160}
+  leg_left_4_joint:  &leg_4_gains {p:  130, d: 0, i:  0, i_clamp:   25, torque_clamp: 300}
+  leg_left_5_joint:  &leg_5_gains {p:   75, d: 0, i:  0, i_clamp:   14, torque_clamp: 160}
+  leg_left_6_joint:  &leg_6_gains {p:   75, d: 0, i:  0, i_clamp:   9, torque_clamp: 100}
   leg_right_1_joint: *leg_1_gains
   leg_right_2_joint: *leg_2_gains
   leg_right_3_joint: *leg_3_gains
@@ -13,11 +13,11 @@ gains:
   leg_right_6_joint: *leg_6_gains
 
 
-  head_1_joint:                   {p: 1,  d: 0.0, i: 1, i_clamp: 5, torque_clamp: 8}
-  head_2_joint:                   {p: 1,  d: 0.0, i: 1, i_clamp: 1.5, torque_clamp: 8}
+  head_1_joint:                   {p: 1,  d: 0.0, i: 0, i_clamp: 5, torque_clamp: 8}
+  head_2_joint:                   {p: 1,  d: 0.0, i: 0, i_clamp: 1.5, torque_clamp: 8}
 
-  torso_1_joint:                  {p: 30, d: 0, i: 1, i_clamp: 10, torque_clamp: 100}
-  torso_2_joint:                  {p: 30, d: 0, i: 1, i_clamp: 10, torque_clamp: 100}
+  torso_1_joint:                  {p: 30, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+  torso_2_joint:                  {p: 30, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
 
   arm_right_1_joint: &arm_1_gains {p: 20, d: 0, i: 0,  i_clamp: 14, torque_clamp: 150}
   arm_right_2_joint: &arm_2_gains {p: 100, d: 0, i: 0, i_clamp: 14, torque_clamp: 150}