In a large saucepan, mix together juice, pectin, and rosemary. Bring to a full rolling boil over high heat, stirring constantly. Stir in sugar, and bring back to a full boil for 1 minute. Remove from the heat; skim off foam and remove rosemary sprigs. Pour hot mixture into hot jars. Insert 1 sprig of fresh rosemary into each jar. Cap and process for 10 minutes in a water bath.