How to create a constraint that limits position & rotation (Think: Jack-in-the-Box)

Unity Engine
1

I am trying to create a joint constraint that tries to keep the target object in a specified position and orientation but with some elasticity. The easiest mental picture would be a jack-in-the-box type function. So far can’t seem to find a solution that would use a single constraint. Is it possible to do this?

How can it be set up?

Thanks!

2

Never mind. After some searching, it turns out you need to use the Drive Forces of a configurable joint. At first, I though that was for a motor type effect only.