Fixes up joint boundary conditions a bit
Fixes up joint boundary conditions a bit

stevekuznetsov/Klampt,hpbader42/Klampt,krishauser/Klampt,arocchi/Klampt,bbgw/Klampt,YilunZhou/Klampt,krishauser/Klampt,stevekuznetsov/Klampt,YilunZhou/Klampt,bbgw/Klampt,krishauser/Klampt,arocchi/Klampt,hpbader42/Klampt,stevekuznetsov/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,arocchi/Klampt,arocchi/Klampt,hpbader42/Klampt,bbgw/Klampt,bbgw/Klampt,hpbader42/Klampt,krishauser/Klampt,krishauser/Klampt,krishauser/Klampt,stevekuznetsov/Klampt,hpbader42/Klampt