match B matrix for the case with direct feedthrough rigid body force elements
match B matrix for the case with direct feedthrough rigid body force elements

hanssusilo/drake,psiorx/drake,thientu/drake,hanssusilo/drake,astrorog/drake,scottviteri/drake,sheim/drake,astrorog/drake,psiorx/drake,scottviteri/drake,thientu/drake,billhoffman/drake,thientu/drake,scottviteri/drake,hanssusilo/drake,edowson/drake,astrorog/drake,sheim/drake,sheim/drake,crogers3/drake,crogers3/drake,edowson/drake,sheim/drake,thientu/drake,crogers3/drake,edowson/drake,astrorog/drake,thientu/drake,astrorog/drake,edowson/drake,sheim/drake,crogers3/drake,edowson/drake,psiorx/drake,billhoffman/drake,psiorx/drake,psiorx/drake,psiorx/drake,billhoffman/drake,edowson/drake,crogers3/drake,crogers3/drake,astrorog/drake,psiorx/drake,billhoffman/drake,hanssusilo/drake,sheim/drake,hanssusilo/drake,edowson/drake,thientu/drake,astrorog/drake,psiorx/drake,sheim/drake,billhoffman/drake,scottviteri/drake,billhoffman/drake,hanssusilo/drake,crogers3/drake,hanssusilo/drake,sheim/drake,scottviteri/drake,crogers3/drake,hanssusilo/drake,thientu/drake,edowson/drake,billhoffman/drake,billhoffman/drake,scottviteri/drake,scottviteri/drake