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How does one add/join a group via XMPP?

Does anyone know if there is a way to add and/or join a group using XMPP stanzas? I can do this for chatrooms, but cannot figure out how to do it for groups. I was hoping to use the broadcast plugin, so this would need to be a real, server-side group.

Thanks.

Well, I ended up doing it by modifying the Broadcast plugin to respond to subscription requests by adding user to the group (and creating the group if it does not exist). Afterwards I stumbled upon ad hoc commands, so maybe I could of used them as well.