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This is really just a version of #644, but where I have removed all the ODE stuff, and added some tests that do not depend on creating ODEsystems. Merging this one would enable us to start working on the Jump stuff (which shares this with the ODE).
If #644 cannot be handled soon, then maybe we could try and merge this one, and we could create the spatial Jump PR (which has already been removed from #644).