Physics Handle component, stiffness and dampening values?

Hi! I’m struggling to make sense of the range of values to put into the angular dampening, angular stiffness, linear dampening, linear stiffness and interpolation speed and what sort of behaviour I should expect from them.

Currently the object my physics handle picks up rotates completely freely around the point of interaction, but I want to stiffen it up, but I can’t seem to figure out what sort of values to use to get more or less towards this behaviour. (And I do not want to lock rotation entirely).

Likewise I want my objects to feel heavy, I.E a big box can be dragged, but the player struggles to lift it off the ground. Currently, the player can pick it up and toss it at a 1-1 ratio with the camera.

What do each of these settings do and what sort of values do they expect?