Pulling objects with a rope

I have been trying to make a character pull a physical object with a rope by using the HingeJoint class.

Problem is, when trying to do so both the character and the physical object remain stuck at fixed points. :?

I strongly believe it is a problem of attributing two different control types to the character (respectively CharacterControl and RigidBodyControl - required for the joint) because when I remove the CharacterControl the objects do fall together chained by their joints. Am I right in this hypothesis? If so, how could I obtain this effect?

CharacterControl is technically a kinematic object, its no “real” physics object so don’t attach joints to it.