Fixed kinematic update code
Fixed kinematics this time, no really
Updated revalidate branch
Fixed bug in FSAB algorithm impulse application
Merge branch 'master' of https://github.com/edrumwri/Moby
Updated build
Fixed one FSAB bug (loss of frame info)
Merge branch 'master' of https://github.com/edrumwri/Moby
Now using FSAB methods for generalized inertia matrix solves
Fixed another FSAB bug for 0-dof joints
Fixed another bug in impulse application
Fixed velocity update bug in apply_generalized_impulse()
Fix dynamics bug in CRB algorithm
Properly fixed bug
Fixed inertia bugs?
Updated FSAB inertia solves
Merged in master