fix num_dof -> num_positions and doKinematics args
fix num_dof -> num_positions and doKinematics args

RussTedrake/director,empireryan/director,mitdrc/director,mitdrc/director,manuelli/director,gizatt/director,mitdrc/director,manuelli/director,patmarion/director,rdeits/director,empireryan/director,openhumanoids/director,openhumanoids/director,openhumanoids/director,mithrandir123/director,rdeits/director,empireryan/director,rdeits/director,patmarion/director,RobotLocomotion/director,edowson/director,manuelli/director,mithrandir123/director,edowson/director,RussTedrake/director,patmarion/director,RussTedrake/director,edowson/director,manuelli/director,mithrandir123/director,mithrandir123/director,edowson/director,mithrandir123/director,edowson/director,openhumanoids/director,gizatt/director,rdeits/director,mitdrc/director,RobotLocomotion/director,mitdrc/director,empireryan/director,rdeits/director,empireryan/director,gizatt/director,gizatt/director,RobotLocomotion/director,patmarion/director,openhumanoids/director,RussTedrake/director,patmarion/director,manuelli/director,RussTedrake/director,RobotLocomotion/director,RobotLocomotion/director,gizatt/director