4.18 physical animation glitch

So I have made a physical animation profile for my robot. The physics asset looks like this:

and all the constraints have the location locked, so the bones shouldn’t move around on their own. This is how my robot looks in editor:

221904-screen-shot-2017-11-29-at-85546-pm.png

It is playing an idle animation and has the physical animation profile on. So when I hit simulate, it looks like this:

221905-screen-shot-2017-11-29-at-85607-pm.png

two of the legs are getting tucked under the robot when they are supposed to come out from the side. The leg on the right is always fine (even when playing different animations), but it and the constraints have exactly the same settings. Any help is appreciated. Thanks!

I also applied limits to the twist and swing 1 of the joints