Flickering Configurable Joint

Hi, i have a rigidbody with a configurable joint that works fine, but when I move the connected body to the floor, it starts to flicking when colliding with the floor.

The connected body is a kinematic rigidbody.

Basically, when the configurable joint faces a obstacle and i try to move the connected body, it seems that joint don`t khow where to go, and start to flickering.

Any idea?

Thx in advance!