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Low mass link issue, physics parameter tuning?

I have problems with creating model with links with low mass (< 0.001). As a result, I get sliding model or misbehaving joints (bouncing or broken). As soon as I increase the mass of the link to 1g or above, the model behaves perfectly. I imagine that I need to tune the physics parameter but I'm not sure here to start. Anyone as experience with the physics options?

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