Question: Length of a Rigid Body Frame

I upped an example to show what i want. I need to connect the blue and yellow joint with a rigid body frame. The length of this frame should MapleSim derive from the initial position of this arrangement by itself (Spherical Joint S1 and Revolute R3 have strictly enforced initial conditions, yellow joint has a fixed position). Is there such a feature like inserting a frame between two given points in MSim4 ?

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