Gazebo pid problems

Hey everyone. I am trying to simulate the gait of a quadruped in Gazebo. When I give values to the joints, the entire assembly starts jerking to the point where the direction of the bot changes. I tried tuning pid values using rqt_gui and the plot of the command vs state are almost inseparable, albeit minor vibrations. So my question is, 1. what can I do to make sure that if one joint is moving, the entire assembly does not vibrate? 2. Is it even a pid issue or something else?

Thank you in advance.

submitted by /u/TheRealVeverest
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