Fixed Joint Component doesn't restrict movement when connected between a RigidBody and an Articulation Body Components

Reproduction steps:
1. Open attached project "1339597.zip"
2. Open Scene "Articulation Joint"
3. Enter Play Mode
4. Observe the Game view

Expected result: Cubes connected to the Articulation Body have restricted movement and don't bounce
Actual result: The cubes connected to the Articulation Body bounce when landing

Reproducible with: 2020.3.10f1, 2021.1.9f1, 2021.2.0a17
Could not test with: 2018.4.33f1, 2019.4.24f1 (Doesn't have Articulation Body Component)