Steps to reproduce: 

1. Open new project
2. Add 2 GameObjects
3. Make 1 GameObject a parent of the other
4. Add ArticulationBody component to both
5. Set the child GameObject's position to (0, 0, 2)
6. Set the parent GameObject's rotation to (0, 180, 0)
7. 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)
8. Observe the location of the Gizmo (Wrong)
9. Select the "Joint Limit Tool" from the same "Edit Joints" field (One on the left)
10. 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