Just a quick look at how to duplicate a set of bodies and mirror them, along with any revolute joints that they have.
See these links for more details:
Box2D C++ tutorials: http://www.iforce2d.net/b2dtut/
b2dJson loader sourcecode: http://www.iforce2d.net/b2djson/
R.U.B.E editor download: http://www.iforce2d.net/b2deditor/
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