Hi, I made a model of 6-bar tensegrity robot for my bachelor thesis. Created Reinforcement learning algorithm, which was able to learn move the robot from its starting position (see attached .gif). Parameters of actuators were chosen by experimenting and I believe it can be tuned better. In some situations, I noticed that robot is not able to tighten one or several tendons. In other cases, tendons shorten too fast or breaks simulation. Any suggestions how can I improve actuators parameters? Thank you for help!