Attaching Deformable Body to Rigid Robot

Is it possible to attach a deformable body to a robot imported from Onshape? I attached an image of my current setup. I tried to create an attachment between the rigid and deformable part but it does not behave well. The deformable part moves with the rigid part, but floats well above it (see the 2nd image). I was forced to use the FingerHolderRightSimplified Xform because I couldn’t select the mesh (it was greyed out). Is there a work around for this?

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