CI : Use github action cache

.github/actions/setup/action.yml

@@ -6,6 +6,7 @@ runs:
     - uses: ros-tooling/setup-ros@v0.7
       with:
           required-ros-distributions: humble
+      if: ${{ steps.cache-setup.outputs.cache-hit != 'true' }}
 
     - name: Setup Drake
       run: |
@@ -21,9 +22,17 @@ runs:
         echo "/opt/drake/bin" >> $GITHUB_PATH
         echo "PYTHONPATH=/opt/drake/lib/python$(python3 -c 'import sys; print("{0}.{1}".format(*sys.version_info))')/site-packages" >> $GITHUB_ENV
       shell: bash
+      if: ${{ steps.cache-setup.outputs.cache-hit != 'true' }}
 
     - name: Install dependencies (python)
       run: |
         sudo apt install -y python3-numpy
         pip install pybullet==3.0.8
       shell: bash
+      if: ${{ steps.cache-setup.outputs.cache-hit != 'true' }}
+
+    - name: Cache setup
+      uses: actions/cache@v3
+      with:
+        path: /
+        key: cache-setup