Multibody link quadruped robot modeling problems

Hi,

Im currently having problems with my quadruped robot model simulation in simscape multibody. I designed the robot in solidworks and transferred the design with mates to the matlab environment. I have differential equations that drive the joints to make the robot walk. I transferred the model on my simulink project file and when i drive the joints with ANY signal i always get singularity and kinematic constraints cannot be maintained errors after 1.1147 seconds.

I already tried lowering and tightening the solver consistency tolerances, using local solvers, different variable step solvers. Sometimes the joints dont even lock up either. I will share a couple screenshots that demos my case: (i disabled the signals in order to detect the problem)