Hi,
I just realized that getFrameToTip() method of the Segment class returns incorrect frame.
It is supposed to return segment tip frame with respect to segment base (joint origin frame) expressed in the same frame.

But regardless of what joint origin frame value is, the output will always be the same, and it should not be.
The method returns

joint.pose(0)*f_tip;

and f_tip is given by
f_tip(_joint.pose(0).Inverse()*_f_tip);

Where _f_tip comes from a user. So, no wonder it stays the same even if joint origin frame changes.
This is in the latest version available from github from Ruben's repo.
Btw, in some of the older version I have, it is correct. So, someone might have changed it.

Sincerely
Azamat