Make JIT compilation of Jacobian algorithm independent from body index

[diegoferigo]

Before this PR, the computation of any link's Jacobian would trigger a JIT recompilation since the body_index argument had to be marked as static:

q: jnp.ndarray = ...
xfb: jnp.ndarray = ...
body_index: int = ...

J = jax.jit(algos.jacobian.jacobian, static_argnames="body_index")(
    q=q, body_index=body_index, xfb=xfb
)

The main reason was that the support body array $\kappa(i)$ has different length for different bodies (where $i$ is the body index).

This PR introduces a new way to compute the support body array $\kappa(i)$ passing through a boolean representation having fixed dimension. This update enables the Jacobian algorithm to be generic and its JIT compiled version remains valid for all link indices.