How to connect joint to cousin

[JJrobo]

Hi I am fairly new and struggled to come up with keywords to search for this.
I want to model the following: https://www.dropbox.com/s/1f5joehuf06ww ... l.png?dl=0

I am struggling to understand how to attach the prismatic joint in green to the two revolute ones that are 'cousins'.
The hierarchy so far is:
rigid1
-rev1
-rev3
--rigid2
---rev2

And the prismatic joint needs to be between rev1 and 2.
Any advice?

[JJrobo]

I believe I need to use dummies. Counterintuitive name :D

[coppelia]

Hello,

As far as I understand it you have a closed loop. Make sure to carefully read this page, mainly the loop closure case. Also, have a look at this simple example scene.

Cheers