Set R to have a negative state priority

[YingboMa]

No description provided.

[baggepinnen]

Tests failed with

ERROR: LoadError: The initial condition for unknown Dt(cyl₊revolute₊frame_b₊R₂ˏ₃, 1, false) isn't provided.

so this does not seem to have improved the situation?

I recall having tried this before as well without success

[YingboMa]

It needs to use the latest JSC and MTK.

[baggepinnen]

I noticed that R already had negative state priority
https://github.com/JuliaComputing/Multibody.jl/blob/main/src/frames.jl#L21

[YingboMa]

Not in here

Multibody.jl/src/joints.jl

Line 858 in b5741d6

@named Rrel = NumRotationMatrix(; R = Rrel0.R, w = Rrel0.w, varw)