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I had a the same issue of a "break-dancing" robot and it was largely due to my joint limits being set to 0. I have no idea why 0 limits would be such trouble but when I set <limit lower="-3.14" upper="3.14" effort...="" velocity...=""/> it stopped. I also had to play with the mu1, mu2, kp and kd parameters to get a good simulation. I did a video of my process: https://www.youtube.com/watch?v=Gp3DF97yN7k

I actually ended up doing automated hyper-parameter tuning of mu1, mu2, kp and kd using Hyperopt library over 400 simulation episodes since it seems it's mostly a trial and error process.