Test against built-in Free now fails with q's randomly assigned and u's determined from randomly assigned body angular velocity. 
Test against built-in Free now fails with q's randomly assigned and u's determined from randomly assigned body angular velocity. 

Gjacquenot/simbody,scamille/simbody,simbody/simbody,simbody/simbody,chrisdembia/simbody,Gjacquenot/simbody,elen4/simbody,elkingtonmcb/simbody,chrisdembia/simbody,robojukie/simbody,elkingtonmcb/simbody,scamille/simbody,chrisdembia/simbody,elkingtonmcb/simbody,elen4/simbody,scamille/simbody,Gjacquenot/simbody,robojukie/simbody,robojukie/simbody