Simscape Multibody - Why Object is bumping instead of sliding while moving?

I am running a simulation on Simscape Multibody. A finger pushing a block. I noticed throug Solver Profile that while my object is moving, it keeps losing contact with the ground and it is causing Solver execptions that makes the simulation super slow. (Yellow is the contact signal between ground and simulaton).

I am using these parameters for frictional and normal forces between the ground and the object

When checking wich block is causing the exception, Matlab says it is a Plannar joint in the object

Those are the parameters in the planar Joint

I have tried different numbers in the parameters and haven't worked. Only broke the simulation and made the finger cross the object istead of pushing it.

I have tried reducing the values of the frictional force and the simulation runned much faster because no more exceptions occured. Also the contact between the object and the ground was more stable. But doing so made my block slide forever instead of moving and stop after a time.

Would much appreciate some help in that matter.

Thank you in advance