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Change base body of rigid tree robot.

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Mohammad Adinehvand
Mohammad Adinehvand on 30 Jul 2020
Answered: Yiping Liu on 20 Jan 2021
We have designed a chain-like robot which has two switchable magnets on gripper and base frame. During movement, gripper and base body exchange their functionality. For example(ref to attach file), link 'Magnet01' is base body and 'Magent02' free gripper. At the first step of movement, 'Magent02' will attach to the wall and become base body and 'Magnet01' will be released and become the free gripper
My question is that how we can change the base body in the ridgidTree?

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