I was more talking about stuff like a dangling waterskin attached to a belt, an object attached to a shoulderbelt, a big necklace with medallions dangling on the chest, stuff like that.
It would be the same concept. A kinematic object attached to the body as an accessory, another one is dynamic (the one that moves in relation to kinematic object).
At the virtual pivot, 2 of those objects are connected with Poin-2-Point constraint. Body has collision shapes. Not exactly an easy setup. But that is the only way to work it out in iClone.
Chain/medallion would be even more complicated. Some action with chain: https://forum.reallusion.com/FindPost551256.aspx
Although another way is to create and animate with morphs.
Here is a quiver on Goblin. Originally I animate it with a morph:
And this one I just converted to physics. Cut quiver out of body and sliced in 3 pieces. Made 2 half-rings kinematic, quiver is dynamic being attached to rings with point-2-point.
One collision shape for pelvis.

I kept right hand away from moving quiver because enabling collision for hand caused weird interaction.
For something more complicated like this one with chain/medallion - Blender and return to iClone as alembic: