[C++] Fix interpolate_impl for some derived joints and reworked unittest
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- src/multibody/joint/joint-free-flyer.hpp 7 additions, 12 deletionssrc/multibody/joint/joint-free-flyer.hpp
- src/multibody/joint/joint-planar.hpp 7 additions, 2 deletionssrc/multibody/joint/joint-planar.hpp
- unittest/joint-configurations.cpp 127 additions, 117 deletionsunittest/joint-configurations.cpp
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