How to set a position controller in XML file?

[Rukendu]

Hi,

I am trying to actuate a cylinder with the help of a position controller. But it is more or less acting like a spring. Is there any way to set a fixed position of the cylinder by adjusting the gain or maybe bringing some changes in the code?

Here's the complete XML code:
File.txt

[rohit-kumar-j]

@Rukendu you check this playlist

[Rukendu]

I've checked it. It is a bit difficult to find the correct gain by keeping on changing the values and so on. Is there any other way than randomly changing the gains?

[yuvaltassa]

A position controller is a spring.
You probably want to add damping to your joint.