Servo Tuning for Torque Mode Servo Motors and LinuxCNC (seeking help for)

So I have found these resources:
PWM Servo Amplifiers
wiki.linuxcnc.org/cgi-bin/wiki.pl?PWM_Servo_Amplifiers

Servo Tuning Tutorial
gnipsel.com/linuxcnc/tuning/torque.html

tommylight's nice tutorial here:
www.forum.linuxcnc.org/10-advanced-confi...ailed-how-to?start=0
but that's more velocity servo focused right? 

PCW's mini guide:

A _very_ rough guide is this (for a single PID loop/Axis)
Start with FF1=0 and FF2 = 0 and I=0

Chose a small amount of P (say 50 = full torque with 1/5" error)
Then increase D until it gets too "buzzy" and then back off about 30% on D
Then increase P until you get oscillations and again back off about 30%
Then adjust FF2 so that you neither overshoot or undershoot during
acceleration (the FF2 setting is inertia dependent so its better to do this with a typical table load)
Finally increase I until motion becomes unstable (Watch out for WIDE oscillations here)and back off about 50%

Video of my attempting performance tuning:


So I was hoping to get some input from you guys and/or resources on servo performance tuning with motors in TORQUE mode.

Thanks for any input!