UsdPhysics.SphericalJoint position keep fluctuating

[Viru97]

Untitled.design.mp4

I am trying to create rope with rigid bodies connected with joints, but rope keep moving even when disturbed as you can see in the video.

this is how i am creating joints between rigid bodies. Could you tell me whats is the problem and also is it a correct way to create joints?

`@classmethod
    def bead_joint(cls, num_bead, radius):
        ENV_REGEX_NS = "/World/envs/env_0"
        stage = sim_utils.SimulationContext().stage

        # Start at 1 so that (i-1) is always valid.
        for i in range(1,num_bead):
            joint_prim_path = f'{ENV_REGEX_NS}/rope/bead_{i - 1}/joint_{i}'
            joint = UsdPhysics.SphericalJoint.Define(stage, joint_prim_path)
            joint.CreateJointEnabledAttr(True)
            joint.CreateBody0Rel().SetTargets([f'{ENV_REGEX_NS}/rope/bead_{i - 1}'])
            joint.CreateBody1Rel().SetTargets([f'{ENV_REGEX_NS}/rope/bead_{i}'])

            # Set both local positions to zero if the joint is at the bead's center.
            joint.CreateLocalPos0Attr().Set(Gf.Vec3f(0.0, -radius, 0.0))
            joint.CreateLocalPos1Attr().Set(Gf.Vec3f(0.0, radius, 0.0))

            # Optionally, set joint rotations if needed.
            rotation = Gf.Quatf(0,0,0,1)  # Identity rotation
            joint.CreateLocalRot0Attr().Set(rotation)
            # joint.CreateLocalRot1Attr().Set(rotation)

                # joint.CreateLocalRot1Attr().Set(rotation)  # Rotation relative to Cube2
            prim = joint.GetPrim()
            drive_api = UsdPhysics.DriveAPI.Get(prim, "angular") or UsdPhysics.DriveAPI.Apply(prim, "angular")
            stiffness = random.uniform(10,50)
            damping = random.uniform(10,50)
            drive_api.CreateStiffnessAttr().Set(stiffness)
            drive_api.CreateDampingAttr().Set(random.uniform(10,50))
            print('Joint Created')
        return stiffness, damping`