I'm doing some work involving four-bar linkages. I can create the model manually through an SDF file, but then I have to solve for the dependent angles manually every time I change the lengths of the links or the initial configuration. I'd like to write a plugin that would take the names of four bodies as arguments, then position them correctly and add revolute joints to form a four-bar mechanism, but I can't figure out how to add joints to a model from within a plugin. Does anybody know how to do this?
I'm using Gazebo 5.
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