Getting objects to "stick" to a surface with friction

I have a platform with objects that sit on top of it. All physic work correctly until I start to move the platform. Basically the platform moves back and forth (on x axis) with the objects on top of it. However, the objects do not "stick" to the platform's surface (like if you moved a table with plates on it, they would stay on the table (unless the table moved really fast)), they just slide off of the platform. I have set the platform to be "anisotropic" with friction values, but this does nothing. The platform itself is a regular "static actor" and the objects that sit on it are rigid bodies.

Anyone know how to make the platform surface "sticky"?

Ok, so I found this post about KINEMATIC objects and how to fix sio2ObjectRender() to properly update the MotionState:

https://sio2interactive.forumotion.net/about-the-sdk-f1/problem-physics-objectskinematic-with-ipo-curves-t962.htm?highlight=kinematic

But when I set my objects on the platform to be kinematic, a lot of weirdness happens. The objects appear for a split second then are all of a sudden on the "ground". I've also read this post:

https://sio2interactive.forumotion.net/sio2-engine-f3/collison-detection-callbacks-with-sio2-bullet-kinematics-t913.htm

Which outlines how to set up an object to be kinematic, but doesn't work for me.

I guess I'm asking for an example of how to properly setup and use a kinematic object so I can place it on a static object that moves and the kinematic objects on top will "stick" to it.