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Was able to solve it by changing the effort limits in my URDF. Previously they were set to 1 (found in the joint tags in my URDF). After setting them higher, the robot can now stand on its own and manipulating PID gains leads to visible changes in error control while running the sim. I'll be fixing these values as I go along to something more reasonable.

Found a solution by going here: https://answers.ros.org/question/110856/controllers-are-unable-to-fight-gravity-in-gazebo-simulation/

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