...
3. Then, we need fill the output decision channel. (1) Active dyanmics, and (2) Pin some bones. The pin target will be the result of step 2 which recorded inside agent memory.
4. And the rest of thing will be automatically. When the bone you sepcifiec collide any dynamical object, it will enable dynamics and pin to that contact object.
For example in this sample, it will collide to kinematic object and hold at
head contact and hold on kinematic primitive