diff --git a/fancy_gym/examples/pd_control_gain_tuning.py b/fancy_gym/examples/pd_control_gain_tuning.py
index 407bfa1..71a3ba4 100644
--- a/fancy_gym/examples/pd_control_gain_tuning.py
+++ b/fancy_gym/examples/pd_control_gain_tuning.py
@@ -31,8 +31,8 @@ ax = fig.add_subplot(1, 1, 1)
 img = ax.imshow(env.env.render(mode="rgb_array"))
 fig.show()
 
-for t, pos_vel in enumerate(zip(pos, vel)):
-    actions = env.tracking_controller.get_action(pos_vel[0], pos_vel[1], env.current_vel, env.current_pos)
+for t, (des_pos, des_vel) in enumerate(zip(pos, vel)):
+    actions = env.tracking_controller.get_action(des_pos, des_vel, env.current_pos, env.current_vel)
     actions = np.clip(actions, env.env.action_space.low, env.env.action_space.high)
     _, _, _, _ = env.env.step(actions)
     if t % 15 == 0: