PD controller tuning for robotic hand

[tfederico]

Hello,

I am trying to build a robotic hand model controlled using reinforcement learning and PD controllers.
However, I am having some issues regarding the tuning of the PD controller.

Simulated and kinematic models are working properly, but when I set the PD controller parameters and try to apply an action this happens.

Does anyone have any suggestion about how to perform PD controller tuning?