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

[gnovos]

I went through the ExtendableGrapplingHook example, but that is "climbing" by changing the length or the rope, which isn't quite what I'm looking for.  I'm looking more for something that just moves a rigidbody steadily up a rope while maintaining the two-way forces between the two.  I have a few ideas how I could accomplish this, but if there's already an example somewhere to save me a lot of trial and error, I would be very grateful.