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Hi Vaibhav

You can get jittering if the model is pretty stiff, ie large joint forces for the masses of the links. Looking at your ales.urdf file, I think that this is your problem as your link masses are quite tiny. In its worst case it can destroy your model.

However you could try reducing the physics step size (the dt element of your physics attribute in your SDF file) or increasing the number of your quickstep iterations. Play around with these to get a good feel for their effect.

This will slow your sim to real time ratio but it will allow the effect of comparatively large forces on small inertias to be accurately modelled.