Is it possible to create a Articulation Body chain using different joints?

Hi, i would like to create a chain of articulation bodies using different joints for the children. The hierarchy looks like this: 1. Gameobject + Articualtion Body (Root) 2. Gameobject + Articulation Body (Fixed Joint) 3. Gameobject + Articualtion Body (Revolute Joint) eccentric rotation 4. Gameobject + Articulation Body (Prismatic), this object should use the eccentric rotation to perform a linear motion, but it is rotating to.

How to fix this?

Thank you!