What you can do is to adjust the physics and physics engine params to test how you can improve over time the simulation. I am refering particularly to the SDF physics params ERP and CFM that are direcly related to the kd and kp params and are used to enhance the performance and stability of the simulation. And, on the other hand, you can try to adjust the SDF physics engine params, if you used ODE as the physics engine I am refering particularly to the min_step_size and the iters params, which you can increase to enhance the computations accuracy in detriment of the simulation performance (or the needed resources).