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How to add a link/joint in runtime

Hello!

Id like to know if its possible to edit a robot in runtime by adding new Links/Joints to it while still having the simulation running and affecting the whole model (unlike the method editor). Ive stumbled upon this UpdateParameters method, but Im not quite sure this will do what I want, although updating an SRDF seems promising.

Im currently using Gazebo 4 on Ubuntu Precise.

If this is possible, does anyone know how to accomplish it ?

Thank you!