From the official manual:
Therefore it is highly recommended to control Physics objects entirely via the Physics behavior (by setting forces, impulses, torques etc.), rather than trying to manipulate objects by Set position, Set angle etc.
In short, don't mix Physics with non-physics behaviors and actions! You can control a different (invisible) sprite with Drag&Drop behavior, and move your Physics sprite to its position with physics action. Here is a demo:
dropbox.com/s/65wlg7mxfbg2y8s/PhysicsBasket4.capx