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Dynamic joint-chain maya 2017 / Attaching to two objects

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hello, wondering if anyone could give some help.

I'm using maya bonus tools to make dynamic joint chains for things like tails and ropes etc.

it's perfect for that but I can't figure out how to attach end point to something else, for example another object like dog leash or rope between two hands and can't really find any tutorials for this... except some older maya version that has "stick to point"
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