Wiki

Inside the Config XML file, you can specify <option_rigid_body_sort_order>

Example (Bot-RPPCfg.xml):

<robot name="rppbot">        
    <!-- Other Stuff -->
    <option_rigid_body_sort_order>link0 link1 link2</option_rigid_body_sort_order> 
</robot>

This puts the order as link0, link1, link2.