Configurate zDrive in SphericalJoint Unity6

Unity Engine
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1

Hello,

I have a robot simulation that contains a spherical joint. I was developing it in Unity 2022.3.11f1 and I have tried to migrate the project to Unity 6. Everything seems to work fine except for the configuration of some parameters I do from a script for the zDrive of the spherical joint. I use the following code:

ArticulationDrive currentDrive = joint.xDrive;
                currentDrive.stiffness = stiffness;
                currentDrive.damping = damping;
                currentDrive.forceLimit = forceLimit;
                joint.xDrive = currentDrive;
                if(joint.jointType == ArticulationJointType.SphericalJoint){
                    ArticulationDrive current_zDrive = joint.zDrive;
                    current_zDrive.stiffness = stiffness;
                    current_zDrive.damping = damping;
                    current_zDrive.forceLimit = float.PositiveInfinity;
                    joint.zDrive = current_zDrive;
                }

Now the values for Stiffness, damping and forceLimit are not applied to the joint.zDrive (they are still applied correctly to the joint.xDrive).

Is it a bug from Unity 6? I didn’t see any change in the nomenclatures from the documentation.