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Okay, so I've made a little headway. For some reason the long thin parts were groups. Connecting to the actual sculpts seems to make the whole thing work a lot better. It's able to support the weight and such.
Also made the density of the sculpts 0 or just above 0. And try turning off gravity. This all helps the connector be able to hold the weight.
Thing is, it seems there is no way of making the joints 100% stable. As in, the all have a bit of give. So if you grab the top you can swing it to the side and it'll just keep swinging.
This is probably because it's a physics simulation and joints pretty much just drags the sculpts towards where they are meant to be so it's not perfect.