Improvement of the front movement of hydraulic excavators (regarding the adjustment of the Revolute Joint and Cylindrical Joint)

The front part of a hydraulic excavator was reproduced using Simscape Multibody.

Each part is pin-connected with a "Revolute Joint", each part has a pin, and each part is cylinder-connected with a "Cylindrical Joint".

The model itself was created without any errors, but the operation clearly does not simulate an actual hydraulic excavator.

Currently, when the simulation is started, it moves significantly.

The goal is to have the excavator stand still naturally without moving too much from the initial state.

I would like to control the movement by adjusting each Joint, but I do not know how to do so.

I think I should modify the "State Targets" and "Limit" sections, but I do not know what parameters to enter.

Thank you in advance for your help.