For starting the effort part we switch to gains.

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_right_1_joint: *leg_1_gains
+  leg_right_2_joint: *leg_2_gains
+  leg_right_3_joint: *leg_3_gains
+  leg_right_4_joint: *leg_4_gains
+  leg_right_5_joint: *leg_5_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}
+
+  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}
+
+  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}
+  arm_right_3_joint: &arm_3_gains {p: 50, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_4_joint: &arm_4_gains {p: 50, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_5_joint: &arm_5_gains {p: 50,  d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
+  arm_right_6_joint: &arm_6_gains {p: 30,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_right_7_joint: &arm_7_gains {p: 30,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_left_1_joint:  *arm_1_gains
+  arm_left_2_joint:  *arm_2_gains
+  arm_left_3_joint:  *arm_3_gains
+  arm_left_4_joint:  *arm_4_gains
+  arm_left_5_joint:  *arm_5_gains
+  arm_left_6_joint:  *arm_6_gains
+  arm_left_7_joint:  *arm_7_gains
+
+  gripper_left_joint:  {p: 0.002, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+  gripper_right_joint: {p: 0.002, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+
+  #https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
+  gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
+  gripper_left_fingertip_1_joint: *gripper_gains
+  gripper_left_fingertip_2_joint: *gripper_gains
+  gripper_left_motor_single_joint: *gripper_gains
+  gripper_left_fingertip_3_joint: *gripper_gains
+  gripper_left_inner_single_joint: *gripper_gains
+  gripper_left_inner_double_joint: *gripper_gains
+
+  gripper_right_inner_double_joint: *gripper_gains
+  gripper_right_fingertip_1_joint: *gripper_gains
+  gripper_right_fingertip_2_joint: *gripper_gains
+  gripper_right_motor_single_joint: *gripper_gains
+  gripper_right_fingertip_3_joint: *gripper_gains
+  gripper_right_inner_single_joint: *gripper_gains

roscontrol_sot_talos/launch/sot_talos_controller_effort.launch

@@ -2,7 +2,7 @@
 
   <!-- Sot Controller configuration -->
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
-  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
+  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find roscontrol_sot_talos)/config/pids_effort.yaml"/>
   <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
   
   <env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />