hmm
in mechanism and in the model tree
mechanism--->connections--->joints--->connection_ x--->rotation axis. RMB
joint settings then properties. u can set the limits. and regen conditions.
faster than going through all them menu's u can simply click on the
joint axis symbol and the RMB... joint settings then properties. u can
set the limits. and regen conditions.
u can then use that to set up everythign else. or u can use a combination of that and snapshots.