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RigidBodyDynamics.jl benchmark updates / fixes.

Guilhem Saurel requested to merge github/fork/tkoolen/tk/julia-updates into master

Created by: tkoolen

Some improvements to the benchmarks for RigidBodyDynamics.jl. The benchmark results are closer to my own now, although still a little bit slower (not exactly sure why). I'll add some inline comments explaining the changes.

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