Add model_instances to CalcBiasCenterOfMassTranslationalAcceleration

[hongkai-dai]

This is mentioned by @mitiguy.

Currently there is a MultibodyPlant function with signature:

  Vector3<T> CalcBiasCenterOfMassTranslationalAcceleration(
      const systems::Context<T>& context, JacobianWrtVariable with_respect_to,
      const Frame<T>& frame_A, const Frame<T>& frame_E) const;

It will helpful to have a MultibodyPlant function that provides model instances, e.g.,

  Vector3<T> CalcBiasCenterOfMassTranslationalAcceleration(
      const systems::Context<T>& context,
      const std::vector<ModelInstanceIndex>& model_instances,
      JacobianWrtVariable with_respect_to, const Frame<T>& frame_A,
      const Frame<T>& frame_E) const;

[mitiguy]

Resolved vis PR #21740