Joint Rotation Problem on Spline Dynamics

Hi,

I have a joint chain driven by spline dynamics.
The problem is when I reset back to zero out control and at frame 0, there is a nasty twist on the joints rather than being on the default rotation.

You can see an illustration video of the problem here:
https://www.dropbox.com/s/vcmhheee3ebhsga/c4d100_rotation_error_spline_dynamics.mp4?dl=0

My solutions so far were
1) Reorganize the priorities, which I think I solved since there are no longer delays on the joints and the controller.
2) Increase substeps (for the document and the tag)
3) Add a protection tag (set to lock on rotation), but the spline dynamics overrides this.

But the problem still persists.

Is there a way around this?

You can see the illustration file here:
https://www.dropbox.com/s/xd9g60z9i99y7xz/c4d100_rotation_error_spline_dynamics.c4d?dl=0

Thank you for looking at the problem

Ben