Hello Dave, thanks for the reply.

It's more my limited thinking towards rigid body dynamics. I have a rigid body proxy leg strung together with hinge constraints that powers joints and then skin to dynamically animate a leg. These legs hang from a passive collider that rotates around a pivot. 1 leg works fine but maya can't seem to deal with the calculations required for a second leg. I have high damping values, low bounce, 0.001step/collision size no initial geometry penetrating but the sim goes incredibly slow usually resulting in glitching and legs flying all over the place/disappearing. I have decent enough system that should handle this. which leads me to the conclusion that this is not what the rigid body system is designed for. working in maya 2012. If you could offer me any advice, i would be really grateful