Add joint_position_tau parameter for smoother joint control and update related configurations

src/iiwa_description/urdf/iiwa7.urdf.xacro

@@ -7,6 +7,7 @@
     <xacro:arg name="robot_ip" default="192.170.10.2"/>
     <xacro:arg name="fri_port" default="30200"/>
     <xacro:arg name="command_mode" default="position"/>
+    <xacro:arg name="joint_position_tau" default="0.04"/>
 
     <xacro:property name="initial_positions"
                     value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -146,6 +147,7 @@
                 <param name="fri_port">$(arg fri_port)</param>
                 <param name="simulate">false</param>
                 <param name="command_mode">$(arg command_mode)</param>
+                <param name="joint_position_tau">$(arg joint_position_tau)</param>
             </hardware>
 
             <joint name="joint1">