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Debugging when all Links snap to origin

I'm wondering how I can debug my robot/code when the symptom is all links snapping to the origin. There are no error messages printed with --verbose. I'm not sure whether it's a function of my SDF, or my code controlling it

Here is the model

Here is the code

the motor plugin I'm using is here

Although the code is WPILib code and probably won't make any sense to anyone.

If I just put in the model with no code running, it doesn't explode. I can drop it and move it all around and it works. It seems to be something with my code or plugins, but I just don't know where to start.