Merge pull request #60 from snozawa/master

enable to change translation-axis for cog jacobian
fix index of starting point of rotation component in inertia matrix
Merge pull request #61 from snozawa/fix-index

Travis test is OK. Merged
add update-mass-property argument to reduce too much calling of mass property propergation
Merge pull request #62 from snozawa/add-massprop-arg

add update-mass-property argument to reduce too much calling of mass pro...