Crash after attaching cloth to robot

I am trying to attach a cloth to a robot; however, only after creating the attachment between the robot and the last rigid body of my robot, it crashes.

Here are the USDA with an without the attachment.

robot_cloth_not_attached.usda (35.4 KB)
robot_cloth_attached.usda (36.4 KB)

I cannot provide the error because it either just freezes or throws hundreds of lines of error in the terminal, and after a few seconds, it closes the terminal.

we were able to preproduce the issue, we are looking at it.
We will get back to you, if there is some workaround. Sorry about the trouble!