Wheel rotation and Physics

Anyone could check the picture included?
I have a wheel, I want it to rotate around an axes, and stay ‘attached’ (joined) with the metal box. However I want the metal box to NOT rotate with the wheel.
The wheel should roll independently but drag the metal box attached with her.

I could not find a solution after hours of testing.
Anyone had the same issue and found a solution?

Is it technically possible???

589999--20975--$wheelproblem.png

No one knows?

make sure the metal box is not a child of the wheel. then all you need to do is rotate the wheel on the x or z axis using collider.rpm as rotating speed, and make sure the eulerAngle of the y = the eulerAngle of the wheel collider. (the mesh of the wheel is separate from the wheel collider)

and you will only rotate the wheel collider on the y axis.

I got it. Actually I used a Custom Join between the Wheel and the Axes and fixed everything but the Y axes, so that the wheel can rotate. Apparently it works.