test non-unit quaternions in testGeometricJacobian.
Size fix in first element of kinsol.JdotV
getCMM gradients. Works for everything except non-unit quaternions right now.
test random configuration in testForwardKin instead of zero configuration.
twist, JdotV gradient tests in testDoKinematics.
Cleanup.
Now doing the normalization gradient in the right place (qdotToV instead of doKinematics/computeTransformGradients). Vq, the matrix that maps \dot{q} to v should be Vq = dv/d\dot{q} = dv/d\dot{\tilde{q}} * d\dot{\tilde{q}}/d\dot{q}, where \tilde{q} is the normalized joint configuration vector. This fixes testGetCMM and testForwardKin for non-unit quaternions.