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?