When creating joints during game play how do you change the position and rotation of an object.

See the picture below for what I am trying to do:

Here is the code that I am using that is in object 2:

 function OnTriggerEnter(collision : Collider) {
     if (collision.gameObject.tag == "Boundary")
     {
     return;
     } 
     Debug.Log("Collided");
     var joint : FixedJoint = gameObject.AddComponent(FixedJoint);
     joint.connectedBody = collision.gameObject.rigidbody;
     //transform.position          This is where
     //transform.rotation.Set      I need help!!!!!
     joint.breakForce = 5000;
     joint.breakTorque = 5000;
         
 }

So when they collide I need help with rotating and re-positioning object 2.

P.S. (The code is in Java Script and if someone has the C# version of this code that would be great.) Thanks for any help.