Fix to get gradients to work with TaylorVar.
Fix UnderwaterAcrobot dynamicsGradients test: it was loading an UnderwaterAcrobot from dynamicsGradients.mat, but the UnderwaterAcrobot code had since been updated. Generated a new one and saved it.
Trying to clean up forwardKinV a bit. Extracted out relativeTransform.
more forwardKinV cleanup.
more forwardKinV cleanup / untangling J and Jdot_times_v computation.
More forwardKinV cleanup. Moved r_hats computation to vectorToSkewSymmetric.
Extracted out forwardJacDotTimesV computation. Also made loopConstraintsV return its old output.