Generic 6 DOF join with python

Hi! I would like to know if I can manipulate all of the Generic 6 DOF joint values in python real time with BGE. Like theese angle and distance limits and other params. If I can, this could come very useful for the Golden Reel Fishing game(BGMC 17), because I could use a nice rigid body joint for my rod:)
This may be what I need:)