How do I use the pin behavior for this situation?

So the rope swings back and forth like a pendulum. The image points are in the ends (marked with X). I want the monkey's hand (marked with X) to be pinned to the ends of the rope as the rope animates (swings).

I need to use the pin behavior because the "Set position to another object" has problems when I am adding something to the monkey's attacks

help please. thanks.

Solution One:

Set the monkeys origin to its hands and then use "Set position to another object"

Solution Two:

Calculate

the difference between the origin and the monkeys hand and move it.