ArticulationBody.GetDenseJacobian does not match the matrix that is calculated manually

Unity: PhysX

2023.2.X

2023.1.X

2022.2.X

2022.1.X

2021.3.X

2020.3.X

2022.1 has reached end of life so the issue will be fixed in a newer version.

How to reproduce:
1. Open project "JacobianMatrix.zip"
2. Enter the Play Mode
3. Open the Console window

Expected result: Matrices should be the same (+/-0.01f)
Actual result: Matrices bottom three rows are different

Reproducible with: 2020.3.20f1, 2021.1.25f1, 2021.2.0b16, 2022.1.0a12
Could not test with: 2019.4.31f1 (Errors)