Fixed joint not getting maintained if the position is not passed in mesh

This is the code, you can have a look.
In this, if you move the position of the blue box, the box moves away from the joint.

This is happening especially when we are not passing position prop to the mesh, if we pass the position, then the initial position of the joints are not in the same place.

another issue, the light-blue box can go through the orange box, but vice versa that doesn’t happen. Even though both are same components with same physics with different colour.

I am sure what am i doing wrong in this? can someone explain the issue I am experiencing?