pid_shadow_robot

Test of PID control for shadow robot-like hand.

Simplified hand model taken from mj_envs repository: https://github.com/vikashplus/mj_envs

To check each of the control types uncomment required model in 'pid_test.py' and run it.

Requested behaviours

• All the ctrl inputs are set to 0 - hand base should be stable, fingers fully stretched
• Only ctrl input of index finger is set to finger - index finger should be fully bent

Observed behaviour

• Control works only with position control. The index finger is bent and hand is kept high.
• With PID and P control the hand is not controlled at all. Hand base is falling down, finger is not bent at all. Resulting pose is the same for PID and P control.