Issue with multiple hinge joints

I’m working on a VR escape room. In this room i have a surgical lamp that moves up and down, side to side. To get this to work, I’m using 2 different Hinge Joints.

The problem is when I connect both of the Rigidbody, there’s one object that’s going to spin if one of the part that moves up and down is pointing down.

I’ve tried different parameters and still can’t get it to work properly.

Can somebody help me resolve this?

I’d try applying some damping to the upper joint, until it keeps stable enough.

The issue is that in that inverse kinematic situation, any position of the upper joint is valid. Being a frictionless joint allows the situations of the video. If the upper joint has some friction (damper) then the problem should minimize.