Solver is too performance heavy

[chenji]

By the way, I do not need to climb on pinhole as Vine Example shows, all I need is to grab the rope, swing and reach the rope saving swing impulse.

Best regards,

It'd be better if you could send some picture to clarify your requirement. It looks to me you can just use dynamic attachment, simply bind the person's hand to the rope (hand is using a joint to bind the person).