{"action":"created","comment":{"url":"https://api.github.com/repos/opensim-org/opensim-core/pulls/comments/29698432","id":29698432,"diff_hunk":"@@ -65,33 +65,35 @@ int main()\n         Inertia linkageInertia = Inertia::cylinderAlongY(linkageDiameter/2.0, linkageLength/2.0);\n \n         OpenSim::Body* linkage1 = new OpenSim::Body(\"linkage1\", linkageMass, linkageMassCenter, linkageMass*linkageInertia);\n-\n-        // Graphical representation\n-        linkage1->addDisplayGeometry(\"cylinder.vtp\");\n-        //This cylinder.vtp geometry is 1 meter tall, 1 meter diameter.  Scale and shift it to look pretty\n-        GeometrySet& geometry = linkage1->updDisplayer()->updGeometrySet();\n-        DisplayGeometry& thinCylinder = geometry[0];\n-        thinCylinder.setScaleFactors(linkageDimensions);\n-        thinCylinder.setTransform(Transform(Vec3(0.0,linkageLength/2.0,0.0)));\n-        linkage1->addDisplayGeometry(\"sphere.vtp\");\n-        //This sphere.vtp is 1 meter in diameter.  Scale it.\n-        geometry[1].setScaleFactors(Vec3(0.1));\n         \n+        // Graphical representation\n+        Cylinder cyl;\n+        cyl.set_scale_factors(linkageDimensions);\n+        Frame* cyl1Frame = new PhysicalOffsetFrame(*linkage1, Transform(Vec3(0.0, linkageLength / 2.0, 0.0)));\n+        cyl1Frame->setName(\"Cyl1_frame\");\n+        osimModel.addFrame(cyl1Frame);","path":"OpenSim/Examples/CustomActuatorExample/toyLeg_example.cpp","position":30,"original_position":30,"commit_id":"f7524307bea81a871802837174115b0e4c3f84cd","original_commit_id":"f7524307bea81a871802837174115b0e4c3f84cd","user":{"login":"aymanhab","id":3972208,"avatar_url":"https://avatars.githubusercontent.com/u/3972208?v=3","gravatar_id":"","url":"https://api.github.com/users/aymanhab","html_url":"https://github.com/aymanhab","followers_url":"https://api.github.com/users/aymanhab/followers","following_url":"https://api.github.com/users/aymanhab/following{/other_user}","gists_url":"https://api.github.com/users/aymanhab/gists{/gist_id}","starred_url":"https://api.github.com/users/aymanhab/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aymanhab/subscriptions","organizations_url":"https://api.github.com/users/aymanhab/orgs","repos_url":"https://api.github.com/users/aymanhab/repos","events_url":"https://api.github.com/users/aymanhab/events{/privacy}","received_events_url":"https://api.github.com/users/aymanhab/received_events","type":"User","site_admin":false},"body":"Agree it should but that would be inconsistent with all other model components that get \"adopted\" using \"add\" e.g. addBody, addJoint, ... etc. accordingly there's no adoptFrame method.","created_at":"2015-05-05T18:34:08Z","updated_at":"2015-05-05T18:34:08Z","html_url":"https://github.com/opensim-org/opensim-core/pull/417#discussion_r29698432","pull_request_url":"https://api.github.com/repos/opensim-org/opensim-core/pulls/417","_links":{"self":{"href":"https://api.github.com/repos/opensim-org/opensim-core/pulls/comments/29698432"},"html":{"href":"https://github.com/opensim-org/opensim-core/pull/417#discussion_r29698432"},"pull_request":{"href":"https://api.github.com/repos/opensim-org/opensim-core/pulls/417"}}},"pull_request":{"url":"https://api.github.com/repos/opensim-org/opensim-core/pulls/417","id":34073529,"html_url":"https://github.com/opensim-org/opensim-core/pull/417","diff_url":"https://github.com/opensim-org/opensim-core/pull/417.diff","patch_url":"https://github.com/opensim-org/opensim-core/pull/417.patch","issue_url":"https://api.github.com/repos/opensim-org/opensim-core/issues/417","number":417,"state":"open","locked":false,"title":"Geometry integration ","user":{"login":"aymanhab","id":3972208,"avatar_url":"https://avatars.githubusercontent.com/u/3972208?v=3","gravatar_id":"","url":"https://api.github.com/users/aymanhab","html_url":"https://github.com/aymanhab","followers_url":"https://api.github.com/users/aymanhab/followers","following_url":"https://api.github.com/users/aymanhab/following{/other_user}","gists_url":"https://api.github.com/users/aymanhab/gists{/gist_id}","starred_url":"https://api.github.com/users/aymanhab/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aymanhab/subscriptions","organizations_url":"https://api.github.com/users/aymanhab/orgs","repos_url":"https://api.github.com/users/aymanhab/repos","events_url":"https://api.github.com/users/aymanhab/events{/privacy}","received_events_url":"https://api.github.com/users/aymanhab/received_events","type":"User","site_admin":false},"body":"This is not an actual PR, just a place to conduct discussion regarding issues that will need to be resolved before the actual PR. Please do not review now as it is WIP. Separate issues will be opened 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