Scripting movement on CharacterJoint axis

Unity Engine
1

1)I have set up character joints with a rigidbody, and trying to move the leg of a character using transform on its characterjoint and I want to move it from its axis and its not working! ugh

here is my code to access CharacterJoint, but I have no idea how to rotate the leg

GameObject.FindWithTag(“LeftLeg”).GetComponent (CharacterJoint).

  1. Question 2, anybody have reading material/tutorial on adding an animation to a CharacterJoint?

Thanks for reading!

2

Ok I got it working, I had to disable “is kinematic” on the rigid body, but now all my legs/arms and stuff float around. I just want the body to stay still and I animate it based off an axis