It could have been nosewheel shimmy that caused the judder, maybe you hadn't seen it before because the aircraft behaved slightly differently with your 170 lbs of instructor out of the plane.
Concentrate on everything you did right, instead of flogging yourself for this little error. It may not be perfect but you always remember your first
We always learn best from our errors anyway (hopefully not too serious).
Get back on the horse ASAP and consolidate with more positive experiences and discuss this with your instructor. You shouldn't have the feeling that this is out of your control and you need some tips on how to handle it if it happens again. If it was nosewheel shimmy (caused by worn thingmy-bobs on the nose wheel) you can relieve it by applying a little back pressure on the yoke to take the weight off the nose wheel.
Have fun!