How to make an object with animated bones work with physics.

So i have this simple cylinder, rigged with those bones and it has already an animation, all have a rotation animation less the one in the bottom, so the cylinder bends and goes straight, and the animations is also looped, so i wanted to just add a simple plane below, make the plane as collider with a collision modifier, and make the cylinder animated with bones a rigid body or soft body, so i can then make the cylinder fall to the floor and interact physically but also still moving, and all interacting together, but the cylinder stays there, the only way it works is if the cylinder is a collider, but not as independent object with animation when i set as rigid body or soft body.

Is there a workflow to make this work correctly?

Thanks in advance. Greetings.