I am making a simple robot car that i want to control using a gamepad in real time. However before simulation I get this error for my 6DOf joint. I reduced my step size to 1e-5 after which the error disappers but the simulation speed becomes very slow. I want to control my car in real time using a gamepad. I don't want this slow of a simulation speed. what should I do? Any help is appreciated.Thank you.