https://docs.unity3d.com/es/2020.1/ScriptReference/ConfigurableJoint.html
UnityEngine.ConfigurableJoint - Unity Scripting API
The configurable joint is an extremely flexible joint giving you complete control over rotation and linear motion.
unityscriptingapi
https://discussions.unity.com/t/how-does-configurablejoints-targetrotation-works/8277
How does ConfigurableJoint's TargetRotation works? - Questions & Answers - Unity Discussions
Oct 7, 2010 - Hey guys, I'm trying to rotate a physics object through user input. I want the object to rotate instantly, but I don't want to set its rotation directly,...
how doesquestions answersworksunitydiscussions