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Create a new YAML file: with this below code Let's say I am calling this YAML file a gazebo_ros_control_params.yaml.

gazebo_ros_control:
  pid_gains:
    joint_a1:
      p: 100.0
      i: 0.01
      d: 10.0
    joint_a2:
      p: 100.0
      i: 0.01
      d: 10.0
    joint_a3:
      p: 100.0
      i: 0.01
      d: 10.0
    joint_a4:
      p: 100.0
      i: 0.01
      d: 10.0
    joint_a5:
      p: 100.0
      i: 0.01
      d: 10.0
    joint_a6:
      p: 100.0
      i: 0.01
      d: 10.0

Add your join name instead of joint_a1 - joint_a6. Just have a look at this link https://github.com/ros-industrial/universal_robot/issues/397#issuecomment-624316688 for more detail.

Try to call this YAML file Just after you call your environment in the launch file.

For example: <rosparam file="$(find ai_robotic_gazebo)/config/gazebo_ros_control_params.yaml" command="load"/>