i hope that it will also be the right plumbing if some (or all) of the sensors/force elements/loops end up using frames, too.

On Mar 24, 2014, at 12:30 PM, Andres Valenzuela <notifications@github.com> wrote:

> In systems/plants/@RigidBodyManipulator/changeRootLink.m:
> 
> > +    
> > +    current_body.damping = old_child_new_parent_body.damping; 
> > +    current_body.coulomb_friction = old_child_new_parent_body.coulomb_friction; 
> > +    current_body.static_friction = old_child_new_parent_body.static_friction;
> > +    current_body.coulomb_window = old_child_new_parent_body.coulomb_window;
> > +    current_body.joint_limit_min = old_child_new_parent_body.joint_limit_min;
> > +    current_body.joint_limit_max = old_child_new_parent_body.joint_limit_max;
> > +    current_body.effort_limit = old_child_new_parent_body.effort_limit;
> > +    current_body.velocity_limit = old_child_new_parent_body.velocity_limit;
> > +    current_body.has_position_sensor = old_child_new_parent_body.has_position_sensor;
> > +  end
> > +    
> > +  current_body = setInertial(current_body,X_old_body_to_new_body'*current_body.I*X_old_body_to_new_body);
> > +
> > +  for i=1:length(current_body.visual_shapes)
> > +    current_body.visual_shapes{i}.T = current_body.visual_shapes{i}.T*T_old_body_to_new_body;
> Yes, that looks like the right plumbing to do this without changing the force and loop classes to use RigidBodyFrames.
> 
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