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Is it possible to access rig joints in C#?

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I am developing a plugin for Unity where models/characters will be automatically animated by way of their rigs and a user specified path. I am new to Unity and have some questions: Is there a way to attach a script to a game object without having the user do it in the front end / through the Unity UI? Is there a way to access the joints of a rigged character from the C# to pass to the back end (in C++)?

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