Question How to avoid this type of glithes

Hello, I want to make some type of robot war game and wandering if Unity Physics is good for it. With the first tests, I encounter some glitches like in the video below.
The setup looks like a body with 1000 mass and 20 mass for each wheel. Hammer is attached with a hinge joint with a mass 10. All rigidbodies collision detection is set to continuous dynamic.

Any idea how to prevent this kind of glitches?

I noticed that this also occurs when another car just hit hammer even when the motor is disabled on the hinge joint.