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Biped Robot is very jittery

I had used the Solidworks URDF exporter to create URDF for my robot. But , spawning it in gazebo immediately results in it falling down and starting to shake very violently. This is my folder which contains the biped . [Please launch it using new_main.launch after launching gazebo_empty_world].

I have also tried most of the solutions here but none has fixed my problem,