Assembling cloth body and rigid body (fixed joint)


I am starting to use Isaac Sim and I would like to create an asset composed of two components, a rigid body and a particle-based cloth body. I would like to have these two body having a rigid link between them so that when I move the rigid body, the cloth body follow up. Currently, this is not the case and when I try to move my rigid body during simulation, they always get separated or the cloth body just fall down and the rigid one stays in the air. What would be the procedure to solve this issue?

Many thanks

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