Update jaxsim.typing module

[diegoferigo]

The current jaxsim.typing module is rather old, it was developed when jax.Array and jax.typing.ArrayLike did not exist.

Now that we have them, we can transition towards something more readable. I propose the following target:

• Use jaxsim.typing.*Like for type hinting input arguments that might be python scalars, numpy arrays, or jax arrays (note that static arguments must be hashable and therefore cannot be arrays).
• Use jaxsim.typing.* (without Like) for type hinting output arguments, that are all jax numpy arrays.

We currently have jaxsim.typing.*Jax for jax-only types, that should be ported to their corresponding types without the Jax suffix.

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📚 Documentation preview 📚: https://jaxsim--71.org.readthedocs.build/en/71/

[flferretti]

LGTM