`jaxsim.api.frame` API is too inefficient

[xela-95]

At the current state, the jaxsim.api.frame is too inefficient, since at each call to transform, jacobian, jacobian_derivative, velocity quantities for parent links and frames are computed every time.

Hence, each call to frame APIs will result in costly computations.

We need to think about caching the quantities we need to make repeated calls efficient. The same probably will apply to the jaxsim.api.link API.

CC @CarlottaSartore @flferretti

[flferretti]

Caching the generalized Jacobian and Jacobian derivative inside JaxSimModelData should be sufficient. It would actually speed up also the contact dynamics

[xela-95]

Agree!