bullet-featherstone: Fix joint frame data pose

[iche033]

🦟 Bug fix

Related issue #648

Summary

Fix joint frame data pose calculation. Re-enabled a check in JointFrameSemantics test for bullet-featherstone and the test should now pass.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Attention: Patch coverage is 88.88889% with 1 line in your changes missing coverage. Please review.

Please upload report for BASE (bullet_kinematic_feature@081c672). Learn more about missing BASE report.

Files	Patch %	Lines
bullet-featherstone/src/KinematicsFeatures.cc	88.88%	1 Missing ⚠️

Additional details and impacted files

@@                     Coverage Diff                     @@
##             bullet_kinematic_feature     #650   +/-   ##
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  Coverage                            ?   79.30%           
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  Files                               ?      140           
  Lines                               ?     8262           
  Branches                            ?        0           
===========================================================
  Hits                                ?     6552           
  Misses                              ?     1710           
  Partials                            ?        0           

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