Questions about Creating and Using Tendons in Isaac Sim

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I am interested in understanding how tendons work in Isaac Sim and how to create/use them in my robotic models.

My specific questions are:

How do I create tendons in Isaac Sim?
    What is the recommended workflow or tool for generating tendons within Isaac Sim?
    Is there a graphical interface, or do I define them via USD or another scripting method?

Can I create tendons externally (e.g., in Blender) and import them into Isaac Sim?
    If so, what is the correct export/import process?
    Are there specific constraints or file formats required for tendons to be recognized by Isaac Sim?

Can tendons be created or manipulated programmatically (e.g., with Python scripts) in Isaac Sim?
    If yes, what API or modules should I use?
    Are there example scripts or documentation to help guide custom tendon creation and control?

Are there key things to consider or common issues when working with tendons in Isaac Sim?
    (e.g., limitations, compatibility, or best practices)

Where can I find example USD files or templates that demonstrate tendon usage in Isaac Sim?