diff --git a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
index 84fa0e0..52c7603 100644
--- a/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
+++ b/openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
@@ -101,10 +101,9 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
   const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18;
 
   // Default gains
-  const std::vector<double> DEFAULT_KP = {20.0, 20.0, 20.0, 20.0,
-                                          5.0,  5.0,  5.0,  0.5};
-  const std::vector<double> DEFAULT_KD = {2.75, 2.5, 0.7, 0.4,
-                                          0.7,  0.6, 0.5, 0.1};
+  const std::vector<double> DEFAULT_KP = {150.0, 150.0, 150.0, 120.0,
+                                          10.0,  10.0,  10.0};
+  const std::vector<double> DEFAULT_KD = {2.75, 2.5, 2.0, 2.0, 0.7, 0.6, 0.5};
 
   const double GRIPPER_JOINT_0_POSITION = 0.044;
   const double GRIPPER_JOINT_1_POSITION = 0.0;