Fix contact derivatives test and restore missing tests#2300

Merged

jcarpent merged 8 commits intostack-of-tasks:develfrom jcarpent:topic/pin3

Jun 24, 2024

+39-167

Commits on Jun 24, 2024

algo/contacts: fix derivatives

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jorisv
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test: restore comment tests

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jorisv
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test/impulses: remove WORLD reference

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changelog: sync

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windows: or -> ||

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jorisv
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core: Remove some warnings in computeConstraintDynamicsDerivatives
jorisv
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tests: Lower the precision required to allow test to pass on Windows
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changelog: Fix format
jorisv
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