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robot arm loaded in gazebo is unstable

Hi all,

I am trying to simulate my own designed robot arm in gazebo. I am using indigo and ubuntu 14. I have successfully loaded model in gazebo and next step is to add ros control. After loading controllers, the arm seems unstable and keeps shaking even I turned the gravity off. I wonder which parameter I should adjust in my urdf file. Thanks in advance for any help.

Here is the pic of the arm loaded in gazebo: image description