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NAO model falls when I start simulation

Hi, I am relatively new to ROS but I have successfully put my NAO model into Gazebo (using the V6 URDF file). I have added controllers.

Everything works good until I start the simulation, at which time gravity is applied. My nao model falls to the ground in one piece. I have set my PID values to 0 and I have set friction and damping to 0. Before setting these value to 0, I had them at some default (values from a different simulator) and this caused my model to collapse into it's different parts, breaking the model apart.

If someone can provide me with some advice on how to resolve this issue, that would be great!