Hi,I was learning RBD constraint recently and I know how to use conetwist constraint for simple object such as a door
but I am confuse parameters on rbdconetwistconstraintproperties sop. such as what is the different about Goal Twist Axis vs Constrainted Twist Axis? is there a detail example or tutorial about it ?

Those parameters define the orientation of the constraint anchors for the two objects.
For the goal object, the twist axis is at the center of the cone, and the constraied object's twist axis is allowed to swing around within the cone limits (up / out rotation ranges) and twist around within the twist rotation limits