Stop transforming wrenches back to body frame in inverse_dynamics.

[tkoolen]

Also add transpose(jac) * wrench, etc. for convenience (used in new joint_wrenches_and_torques! implementation).

A bit faster:

`dynamics_bias!`6.64 -> 6.36
`inverse_dynamics!` 5.87 -> 5.68
`dynamics!`: 18.92 -> 17.86

Will also allow removing joint_torque!(τ::AbstractVector, joint::Joint, q::AbstractVector, joint_wrench::Wrench), thus simplifying the Joint interface and making it easier to create new JointTypes.

[codecov-io]

Codecov Report

Merging #526 into master will decrease coverage by <.01%.
The diff coverage is 100%.

@@            Coverage Diff             @@
##           master     #526      +/-   ##
==========================================
- Coverage   99.53%   99.53%   -0.01%     
==========================================
  Files          42       42              
  Lines        2788     2787       -1     
==========================================
- Hits         2775     2774       -1     
  Misses         13       13

Impacted Files	Coverage Δ
src/spatial/motion_force_interaction.jl	100% <100%> (ø)	⬆️
src/spatial/spatialmotion.jl	99.12% <100%> (+0.02%)	⬆️
src/mechanism_algorithms.jl	100% <100%> (ø)	⬆️
src/joint_types/quaternion_spherical.jl	100% <0%> (ø)	⬆️

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