Cannot switch between parent/child easily

[cadop]

Currently it is extremely difficult to switch or change the link configuration. For example, if we put the ground joint in the middle and then switch to the end, the parent/child relationship is wrong for all of these joints. We should make either a tool or some checkbox that gets generated for each joint that can be set to switch them.

[apric0ts]

Could you clarify on what you mean by "put the ground joint in the middle and then switch to the end"?

[cadop]

Say for a humanoid robot you set the ground joint to the pelvis and make the legs children and the upper body children (so the parent/root is pelvis). Then you want to switch it so the foot is the ground joint, you need to switch every joint from the pelvis to the foot.