Test CoM Jacobian with random configuration for shape, and then with 0 configuration for values
Test CoM Jacobian with random configuration for shape, and then with 0 configuration for values

sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake