we could do that.  

please take a look at my latest push?  i’ve put in the plumbing, with ‘not implemented errors’ in necessary places.

On Mar 24, 2014, at 11:44 AM, 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;
> If the sensors use RigidBodyFrames as their attachment points (like ContactForceTorqueSensor) then they should be fine as long as the frames get updated. Maybe we should modify them so that they all use RigidBodyFames - and while we're at it we could do the same for loops and forces.
> 
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