ol class="arabic simple">
<li><p>In the SideData constructor, add the new joint object (as defined in the header) following the established format.</p></li>
<li><p>On the last line, add a statement to reconfigure the new joint—model this on the formatting for other joints.</p></li>
</ol>
</section>
<section id="joint-h">
<h2>Joint.h<a class="headerlink" href="#joint-h" title="Link to this heading">¶</a></h2>
<ol class="arabic simple">
<li><p>Create a new class for the joint; ensure it inherits from the p