In computeJacobianJoinWrtConfig, the free flyer contribution to the jacobian was erroneous. Fixed.(bug report and solution by Sylvain Miossec)
In computeJacobianJoinWrtConfig, the free flyer contribution to the jacobian was erroneous. Fixed.(bug report and solution by Sylvain Miossec)

jrl-umi3218/jrl-dynamics,jrl-umi3218/jrl-dynamics