Joints "stretched"

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First you need to correct the position of the joint anchors. To do this, you can use the buttons Fix 0, Fix 1 and Fix 01. Then increase the number of iterations, for example, by 8. Finally, remove the immovable flag from the rigid body, or use body dummy instead. The attachment contains an example of a configured joint.

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With 2.14 this scene work as is now.

But as soon as you start moving red cube, blue starts rotating around it freely, while keeping distance. If set mass to red cube 0 instead of checking "immovable" - it work as expected.

Just letting you know.

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