Reduce max effort for other joints, so even if PID params modified the arm can't go too fast. The LBR iiwa 14 R820 specification doesn't list torque for all motors but mentions 156 Nm for what looks like joint 0.
Set joint damping to 0 (alternative fix for joint 7 getting stuck).
Further reduce effort limit on joint 7 (still reports of instability after https://bitbucket.org/osrf/ariac/pull-requests/95).
Reduce max effort for other joints, so even if PID params modified the arm can't go too fast. The LBR iiwa 14 R820 specification doesn't list torque for all motors but mentions 156 Nm for what looks like joint 0.
Set joint damping to 0 (alternative fix for joint 7 getting stuck).