Constant shaking of robot

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I know this question has been asked a couple of times, but I haven't found any solution. I'm fairly new to ROS. I am trying to launch a custom urdf file, by creating a joint with parent as world and child as baselink (in my bot/slab it is called mount_link, where the mount_link is the link of the slab )

I am merely trying to get the slab to get fixed on the table in a vertical position

Here is the code I have used for the same

<joint name="mountjoint" type="fixed" > <origin xyz="0.5 0.5 0"/> <parent link="world" /> <child link="mount_link" /> </joint>

https://drive.google.com/file/d/1ITwM... Here is the link of a small video depicting the same.

The white slab (which is a urdf file) is constantly shaking. I have tried applying the dynamics damping tag in the joints, and it still does not work. Please ignore the other stuff on the table.

I have also tried adding the transmission tag in the urdf file from the GazeboROS tutorials and it still does not work. Please help me out here.

Thanks!