Steps to reproduce: 
# Open new project
# Add 2 GameObjects
# Make 1 GameObject a parent of the other
# Add ArticulationBody component to both
# Set the child GameObject's position to (0, 0, 2)
# Set the parent GameObject's rotation to (0, 180, 0)
# Select the Child game object and enable the "Anchor Transform Tool" from the "Edit Joints" field in the ArticulationBody component inspector. (One on the right)
# Observe the location of the Gizmo (Wrong)
# Select the "Joint Limit Tool" from the same "Edit Joints" field (One on the left)
# Observe the location of the Gizmo (Correct) 

Expected:  Both positions should be the same
Actual: Anchor Transform Tool does not correctly include the parent transform rotation and is shown in the wrong position