bullet-featherstone: Fix joint frame data pose

[iche033]

🦟 Bug fix

Related issue https://github.com/gazebosim/gz-physics/issues/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

• [x] Signed all commits for DCO
• [x] 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[bot]]

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 :warning:

Additional details and impacted files

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

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