Help Are there any examples of a rigidbody climbing an ObiRope?

Code:
using Obi;

using System.Collections;

using UnityEngine;



public class ObiClimber : MonoBehaviour

{

    public ObiRope rope = default;



    public Vector3 Offset = default;



    public float ClimbSpeed = 1f;



    int CurrentRopeElement = -1;



    ObiCollider obiCollider;



    ObiPinConstraintsBatch batch = new ObiPinConstraintsBatch();



    private void Awake()

    {

        obiCollider = GetComponent<ObiCollider>();

    }



    bool started = false;

    private void Start()

    {

        StartClimber();

        started = true;

    }



    public void OnEnable()

    {

        if (started)

        {

            StartClimber();

        }

    }



    private void OnDisable()

    {

        StopClimber();

    }



    public void StopClimber()

    {

        if (climber != null)

        {

            StopCoroutine(climber);

        }

    }



    public void StartClimber()

    {

        StopClimber();



        CurrentRopeElement = FindNearestRopeElement(transform.position + Offset);



        climber = StartCoroutine(Climber());

    }



    public int FindNearestRopeElement(Vector3 pos)

    {

        int closest = -1;

        var closestDist = float.MaxValue;



        for (int i = 0; i < rope.elements.Count; ++i)

        {

            var e = rope.elements[i];

            var p2 = rope.solver.positions[e.particle2];

            var dist = Mathf.Abs(pos.y - p2.y);

            if (dist < closestDist)

            {

                closestDist = dist;

                closest = i;

            }

        }



        return closest;

    }



    Coroutine climber;

    IEnumerator Climber()

    {

        while (isActiveAndEnabled && CurrentRopeElement-- > 0)

        {

            var at = rope.elements[CurrentRopeElement];



            var currentDist = 0f;



            while (currentDist < 1f)

            {

                Vector3 p = rope.solver.positions[at.particle1];

                Vector3 p2 = rope.solver.positions[at.particle2];

                var current = Vector3.Lerp(p2, p, currentDist);

                var offset = p2 - current;

                SetConstraint(at, offset);

                currentDist += Time.deltaTime * ClimbSpeed;

                yield return null;

            }





            yield return null;

        }

    }



    public void SetConstraint(ObiStructuralElement element, Vector3 offset)

    {

        var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;

        pinConstraints.Clear();

        batch.Clear();

        batch.AddConstraint(rope.solverIndices[element.particle2], obiCollider, offset + Offset, Quaternion.identity, 0, 0, float.PositiveInfinity);

        batch.activeConstraintCount = 1;

        pinConstraints.AddBatch(batch);

        rope.SetConstraintsDirty(Oni.ConstraintType.Pin);

    }



    private void OnDrawGizmosSelected()

    {

        Gizmos.color = Color.yellow;

        Gizmos.DrawWireSphere(transform.position + Offset, 0.15f);

    }

}