Attach edges of soft body to rigid parts

Hi, I’m new to Isaac Gym and was impressed by the clean and powerful simulator.
I’m working on a soft object simulation project and have gone through most simulators. It seems Isaac offers a good tradeoff between accuracy and computation time.
I started with and noticed the attachDistance argument. However, I’m wondering whether I can attach a face of the soft body (say a cube) to a rigid surface? Such that by moving the rigid part, the soft body can move with one face attached.

Many thanks if you could provide some insights. :)