Simplified way the rigid body tree is initialized.
Simplified way the rigid body tree is initialized.

billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake