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Shaking can be caused by bad model parameters (joint constraints, damping, etc), bad physics parameters (large step size for example), bad controllers (high torque values for example), or combinations of the three.

I would recommend narrowing down the possibilities. For example, you can disable controllers an check your model parameters.

I also recommend switching to gazebo 7 or gazebo 8. Gazebo 2.2 is very old, and many issues in Gazebo have been resolved since its release.