Attach edges of soft body to rigid parts

[giorgio.nicola]

I have opened a thread on topic that it should be similar and might have a similar solution.

Creating physics attachment in standalone cloth simulation

Hi, I am trying to create a standalone simulation of a robot manipulating a cloth, and I have some doubts about how to create the attachment between the Robot and the cloth. I can create an attachment from the GUI and save the scene in a .usda; however, I want to change the attachment at the beginning of each simulation. Secondly, when working with robots, I was not able to change the robot joint states from the GUI (I am probably missing something), so I wish to do everything within the stand…