updated cached property

[yhnsu]

Description

Update cached properties for Articulation for saving unnecessary costs.

[Copilot]

Pull request overview

This PR optimizes the Articulation class by converting several read-only property accessors to cached properties, reducing unnecessary method calls and improving performance.

Changes:

• Converted 6 properties in the Articulation class from @property to @cached_property for properties that return immutable data (dof, num_links, link_names, root_link_name, joint_names, all_joint_names)
• Removed trailing whitespace in embodied_env.py

Reviewed changes

Copilot reviewed 1 out of 2 changed files in this pull request and generated no comments.

File	Description
embodichain/lab/sim/objects/articulation.py	Changed 6 properties to cached_property to avoid redundant computation of immutable articulation metadata
embodichain/lab/gym/envs/embodied_env.py	Minor whitespace cleanup (removed trailing whitespace)

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