Do they have something that works like target rotation in configurable joints? How do they work with adding forces? Forces don't work well with configurable joints. If you add a force, the force of the joint sort of overwrites it. Does this happen with articulation bodies? Could you do something like, having a low mass object connected to a high mass object, then apply a force on the low mass object, and have the force transfer to the high mass object? With configurable joints, if you do this it would just make the low mass object glitch out while not really effecting the high mass object.