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Fixed bug in actuation integration of free-fwd dynamincs + added explanation of joint types

Merged Fixed bug in actuation integration of free-fwd dynamincs + added explanation of joint types
cmastall/crocoddyl:topic/fre-dyn-fix-actuation into devel
Merged Carlos Mastalli requested to merge cmastall/crocoddyl:topic/fre-dyn-fix-actuation into devel
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