Fix model frame data

[iche033]

🦟 Bug fix

Summary

Fix ModelFrameSemantics in dartsim. When a model is added to dartsim, a model frame is also always created. So it looks like we can just look up frames to retrieve model frame data in KinematicsFeature instead of using the root body node (which may be at an offset from the model).

Enabled checks for model frame data in kinematic_features

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)
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