Typo fix (#871)

Capitalize Jacobian.

Author: stephanie-eng

doc/concepts/kinematics.rst

@@ -6,8 +6,8 @@ The Kinematics Plugin
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 MoveIt uses a plugin infrastructure, especially targeted towards allowing users to write their own inverse kinematics algorithms.
-Forward kinematics and finding jacobians is integrated within the RobotState class itself.
-The default inverse kinematics plugin for MoveIt is configured using the `KDL <https://github.com/orocos/orocos_kinematics_dynamics>`_ numerical jacobian-based solver.
+Forward kinematics and finding Jacobians is integrated within the RobotState class itself.
+The default inverse kinematics plugin for MoveIt is configured using the `KDL <https://github.com/orocos/orocos_kinematics_dynamics>`_ numerical Jacobian-based solver.
 This plugin is automatically configured by the MoveIt Setup Assistant.
 
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