Help Hold or fix individual particles with another 3D object [Unity 2018]

[deathrayash]

Hi,
[Unity 2018]
I have a in game 3D object picker which I use to pick objects when grasped.
I use fixed joint to fix the object picked to the picker.
Can I do this with the individual cloth, softbody and rope objects? 
I want to attach the collided particles to my 3D object and move with it.

I am new to Obi and sorry if this question is already answered. 
If so could any one please direct me to that answer?

Thank you for your help!