I did it a couple of years ago. This is a post I did of my experience.
post68622.html#p68622 I used a hoist and while I would still use it, I would drop the bike to the floor and also use a floor jack. I have noted several post in the forum which did the job with the motor in the frame, much as I did. If you take your time, it's about a 4 hour job. Commando Specialties sell a good product, and they stand behind their products with a good return policy, but instructions and support are thin for a someone like me who has little experience with motorcycle repair.
Now that I have them in, it's just loosen the bolts, put an Allan key in and adjust to your hearts content. By the way, there is a post somewhere in the last year that addresses the issue of changing (tightening) of the ISO clearance. L.A.B. made some points which helped me. May be worth a read.