A simple method to tune PID gains

Hello! I'm trying to control the UR10 model via sockets with python. I'm just sending trough the topic "/gazebo/default/UR10/joint_cmd" some position.target messages to the PID controller that is included in Gazebo. It works but it would work much better with a well-tuned PID controller. Someone knows a simple method to tune a PID controller in gazebo? Thanks in advance!