Add a test to bodyJacobian.
Add a test to bodyJacobian.

gergondet/RBDyn,gergondet/RBDyn,jrl-umi3218/RBDyn,jrl-umi3218/RBDyn,gergondet/RBDyn,gergondet/RBDyn,gergondet/RBDyn,jrl-umi3218/RBDyn,jrl-umi3218/RBDyn