Hello, I'm trying to use mujoco to model a tensegrity structure made of 12 rods and 36 cables. Since I also want to take in account the elasticity of the rods in the simulation, both rods and cables are modeled with tendons (MJCF file is attached). The issue is that the high stiffnesses coming from realistic material properties (carbon fiber and metal) make the simulation unstable unless I use a very small time step (0.00006). Is there a way to simulate this environment with a decent time step by changing some parameters without affecting the material properties, or is simply mujoco not made for this type of problem? Thanks