Fix dependencies of physics engine

[diegoferigo]

The first version of JAXsim included in #1 requires some dependencies that have to be fixed. I have some local modifications that need to be streamlined. In particular:

• I need to submit a patch to brentyi/jax_dataclasses to fix an infinite loop for deeply nested pytrees (done in Fix infinite loop for cycles in pytrees brentyi/jax_dataclasses#2)
• We need to wait numba to be compatible with the latest numpy so that FirefoxMetzger/scikit-bot could get updated (Support for NumPy 1.22 numba/numba#8027)