hpp-fcl -> coal

[nim65s]

Start working on hpp-fcl -> coal transition.

This might require another pass when the same work wil be done in pinocchio, (at least remove the COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL flag).

While here, enable some unittests, enable PTH ruff lint and implement it, and bump pinocchio.

2 tests are currently failing for me with:

======================================================================
FAIL: test_calc (__main__.TestVelocityAvoidance.test_calc)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/nim/local/agimus/colmpc/tests/test_velocity_avoidance.py", line 178, in test_calc
    self.assertAlmostEqual(
AssertionError: 8.834530107910298 != 8.834353448314038 within 5 places (0.00017665959626000927 difference) : Result missmatch in function ``calc`` between Python and C++implementation!.

======================================================================
FAIL: test_calc_diff_finite (__main__.TestVelocityAvoidance.test_calc_diff_finite)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/nim/local/agimus/colmpc/tests/test_velocity_avoidance.py", line 220, in test_calc_diff_finite
    np.testing.assert_allclose(
  File "/nix/store/5pfnhcknhr42slkqbc6y0q6qwlknsn1b-python3.12-numpy-1.26.4/lib/python3.12/site-packages/numpy/testing/_private/utils.py", line 1504, in assert_allclose
    assert_array_compare(compare, actual, desired, err_msg=str(err_msg),
  File "/nix/store/px2nj16i5gc3d4mnw5l1nclfdxhry61p-python3-3.12.7/lib/python3.12/contextlib.py", line 81, in inner
    return func(*args, **kwds)
           ^^^^^^^^^^^^^^^^^^^
  File "/nix/store/5pfnhcknhr42slkqbc6y0q6qwlknsn1b-python3.12-numpy-1.26.4/lib/python3.12/site-packages/numpy/testing/_private/utils.py", line 797, in assert_array_compare
    raise AssertionError(msg)
AssertionError: 
Not equal to tolerance rtol=1e-09, atol=1e-09
Result missmatch in function ``calcDiff`` between C++ implementation and python implementation!.
Mismatched elements: 14 / 14 (100%)
Max absolute difference: 0.0071246
Max relative difference: 0.0059036
 x: array([ 1.236538,  3.745628,  6.082169, -3.663471, -2.296124,  2.476514, -0.346822, -0.079835, -0.178627, -0.31301 ,  0.218428,  0.131093, -0.100388, -0.014509])
 y: array([ 1.236034,  3.741866,  6.075044, -3.662399, -2.294085,  2.473528, -0.347269, -0.079858, -0.17865 , -0.313027,  0.218016,  0.130818, -0.100558, -0.014424])

[nim65s]

@Mergifyio rebase

[mergify]

rebase

☑️ Nothing to do

• -conflict [📌 rebase requirement]
• -closed [📌 rebase requirement]
• queue-position = -1 [📌 rebase requirement]
• any of:
  • #commits > 1 [📌 rebase requirement]
  • #commits-behind > 0 [📌 rebase requirement]
  • -linear-history [📌 rebase requirement]

[nim65s]

@Kotochleb : what should we do about this failing test ?

colmpc> ======================================================================
colmpc> FAIL: test_calc (__main__.TestVelocityAvoidance.test_calc)
colmpc> ----------------------------------------------------------------------
colmpc> Traceback (most recent call last):
colmpc>   File "/build/source/tests/test_velocity_avoidance.py", line 178, in test_calc
colmpc>     self.assertAlmostEqual(
colmpc> AssertionError: np.float64(8.834530107910298) != np.float64(8.834353448314038) within 5 places (np.float64(0.00017665959626000927) difference) : Result missmatch in function ``calc`` between Python and C++implementation!.
colmpc> ======================================================================
colmpc> FAIL: test_calc_diff_finite (__main__.TestVelocityAvoidance.test_calc_diff_finite)
colmpc> ----------------------------------------------------------------------
colmpc> Traceback (most recent call last):
colmpc>   File "/build/source/tests/test_velocity_avoidance.py", line 220, in test_calc_diff_finite
colmpc>     np.testing.assert_allclose(
colmpc>   File "/nix/store/xji7f8c2303yjxp4393y7vwj1wlffcnm-python3.12-numpy-2.2.0/lib/python3.12/site-packages/numpy/testing/_private/utils.py", line 1678, in assert_allclose
colmpc>     assert_array_compare(compare, actual, desired, err_msg=str(err_msg),
colmpc>   File "/nix/store/xji7f8c2303yjxp4393y7vwj1wlffcnm-python3.12-numpy-2.2.0/lib/python3.12/site-packages/numpy/testing/_private/utils.py", line 884, in assert_array_compare
colmpc>     raise AssertionError(msg)
colmpc> AssertionError:
colmpc> Not equal to tolerance rtol=1e-09, atol=1e-09
colmpc> Result missmatch in function ``calcDiff`` between C++ implementation and python implementation!.
colmpc> Mismatched elements: 14 / 14 (100%)
colmpc> Max absolute difference among violations: 0.0071246
colmpc> Max relative difference among violations: 0.0059036
colmpc>  ACTUAL: array([ 1.236538,  3.745628,  6.082169, -3.663471, -2.296124,  2.476514, -0.346822, -0.079835, -0.178627, -0.31301 ,  0.218428,  0.131093, -0.100388, -0.014509])
colmpc>  DESIRED: array([ 1.236034,  3.741866,  6.075044, -3.662399, -2.294085,  2.473528, -0.347269, -0.079858, -0.17865 , -0.313027,  0.218016,  0.130818, -0.100558, -0.014424])
colmpc> ----------------------------------------------------------------------

[Kotochleb]

My wild guess is that default tolerances in Coal were changes since we worked on that. @ArthurH91 could you take a look at it as well?