The problem with a sphere in what should have been a larger radius sphere is that the ball is not stable and a smaller radius ball rolls around in the larger radius pocket causing lots of computation to keep track of those small motions. If the two spheres were of equal radius, that may also be a problem.
Try creating an arm with a conical cavity to take the ball. Then there is a well defined circle of contact. If you have a Rough contact, the ball will be stable in the cone during the launch. Â
Use a regular Spring to Ground and add the Preload to that.
On the revolute joint, you can define a Stop so you don’t need the rod for the arm to crash into.
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