ROS Fuerte Gazebo, model desintegrates when using any controller

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Hi, I am fighting with this problem for two days. When I load a model of my robot to Gazebo, I am able to put effort to joint and it moves. but when I try to use my joint position controller (or use that PID one that is in Gazebo) model just disintegrates, some links disappear, base dives.

Maybe I am doing something obviously wrong while defining urdf for my model?

I hope some of you had the same problem. I am rather new to Gazebo, although I made trough PR2 controller tutorials and based on that I've built my own.

I attach urdf for model below, it is based on SolidWorks file conversion.

<robot
  name="dlon2">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.000538 -0.010977 -0.0035996"
        rpy="0 0 0" />
      <mass
        value="0.038882" />
      <inertia
        ixx="1.4734E-05"
        ixy="1.5355E-22"
        ixz="-1.1613E-21"
        iyy="2.1266E-05"
        iyz="1.0497E-07"
        izz="8.7373E-06" />
    </inertial>
    <visual>
 <material name="blue">
        <color rgba="0 0 .8 1"/>
      </material>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://dlonurdf/meshes/podstawa.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://dlonurdf/meshes/podstawa.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="kciuk">
    <inertial>
      <origin
        xyz="-0.00068428 -0.018063 3.1225E-17"
        rpy="0 0 0" />
      <mass
        value="0.0033556" />
      <inertia
        ixx="6.2442E-07"
        ixy="-8.8668E-09"
        ixz="-5.6869E-25"
        iyy="6.7857E-08"
        iyz="5.1285E-23"
        izz="5.7531E-07" />
    </inertial>
    <visual>
 <material name="violet">
        <color rgba="1 0 .8 1"/>
      </material>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://dlonurdf/meshes/kciuk.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://dlonurdf/meshes/kciuk.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="kciukzlacze"
    type="revolute">
    <origin
      xyz="0 -0.018118 -0.0036859"
      rpy="-0.03604 0 0" />
    <parent
      link="base_link" />
    <child
      link="kciuk" />
    <axis
      xyz="-1 0 0" />
    <limit effort="100" velocity="1000" lower="-1.57079632679" upper="1.57079632679"/>
  </joint>

   <gazebo reference="kciukzlacze">
      <turnGravityOff>true</turnGravityOff>
    </gazebo>
    <gazebo reference="kciukzlacze">
      <stopKd value="1.0" />
      <stopKp value="1000000.0" />
    </gazebo>


  <link
    name="kciukkoniec">
    <inertial>
      <origin
        xyz="0.0043157 -0.018063 4.3368E-19"
        rpy="0 0 0" />
      <mass
        value="0.0033556" />
      <inertia
        ixx="6.2442E-07"
        ixy="-8.8668E-09"
        ixz="-2.2489E-24"
        iyy="6.7857E-08"
        iyz="-6.3176E-23"
        izz="5.7531E-07" />
    </inertial>
    <visual>
 <material name="violet" />

      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://dlonurdf/meshes/kciukkoniec.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://dlonurdf/meshes/kciukkoniec.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="zlaczekonieckciuka"
    type="revolute">
    <origin
      xyz="0 -0.038372 0"
      rpy="0.011337 0 0" />
    <parent
      link="kciuk" />
    <child
      link ...