J_omega not computed correctly

This only applies to the new dynamics engine (not tao).

J_omega always contains only 0s and 1s, which does not make sense (J_omega's columns are the axes of rotation expressed in the ground frame).

Run the pr2 example and cout J_omega for the end-effector.

Add this code after line 238 in CTaskOpPos.cpp std::cout << data_->J_6_.block(3,0,3,data_->robot_->dof_) << std::endl;

Thanks for having a look!

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