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In depth learning on Configuring Joints can be found in this course in Motive Academy.

Excerpt
The Unity SDK includes components to help configure Unity joints for a number of common tasks, including setting and monitoring limits, etc. These joints use Unity’s Configurable Joint behind the scenes.

Table of Contents

Motive’s Joints add the following capabilities to Unity’s Joints:

Can toggle between “locked” and “unlocked”. When locked, the underlying Configurable Joint is set to have no freedom of movement. When unlocked, the Joint behaves as defined by the Joint type.
Can be connected and disconnected. When disconnected, the Configurable Joint is destroyed. This can be used by Attachables to create more realistic machine physics.

Base Joint

Name	Description
Reset On Scripts Reset	If true, reset all Joint parameters when the Script Manager resets.
Is Connected	Is the Joint currently connected to a rigidbody.
Axis	The axis for the Joint.
Secondary Axis	Secondary axis for the Joint. Both axes are required to calculate cross products for certain types of Joints.
Anchor	The local position that represents the Joint connection point.
Connected Rigidbody	Set to the Rigidbody that this Joint connects to.
Joint Rigidbody	The Rigidbody of the Joint if not on the same Game Object as the Joint.
Initialize Locked	If true, the Joint is initialized in a “locked” state and cannot be moved.
Unlock Grabbables	If set, the Joint is automatically unlocked when one of the Grabbables is currently being Grabbed. This is useful in complex machines where grabbing a particular part or handle should only move one part of the machine while the rest of the machine stays locked in place.

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