How to connect objects/xforms rigidly?

I tried to make a wheel robot with 1 cube and 2 cylinders.

I connected objects with revolute joints, but when I turned on physics simulation and gravity the relative position of objects was broken.(broken by gravity as these components are not connected)

How to solve this? Do I need to add another joint?

Hi - Sorry for the delay in the response. Let us know if you still having this issue with the latest Isaac Sim 2022.2.1 release.