[ODE] ODE can simulate the closed-loop mechanism?

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ODE can simulate the closed-loop mechanism?

i want to use ode as my engine to simulate the mechanical machines.i am newer to ode ,i read and studied the examples
but not found the closed-loop mechanism. so anybody can help me ?

moreover,i want to set a four-bar mecharnism ,can anybody help me to build a demo source file ?

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