Just like GJK, the result of EPA should always be checked against its
own tolerance.

Setting default parameters for the narrowphase

time

I only keep the cases that were previously triggering asserts.
Otherwise this test timeout on the CI.

All of the other cases don't trigger any assert.

Also bumped the tolerance of the assertion because asking 1e-16 is way
too small.

Checking the max coef is incompatible with the first convergence
criterion of GJK which checks the norm of the current iterate (see first
convergence check in `GJK::evaluate` in `gjk.cpp`).
This convergence check is needed, so it's better to adapt the assertion
than the GJK check itself.

Avoid double fwd declaration in Pinocchio eigen.hpp

[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/astral-sh/ruff-pre-commit: v0.1.14 → v0.2.0](https://github.com/astral-sh/ruff-pre-commit/compare/v0.1.14...v0.2.0)

Sync submodule cmake

Merge branch hppfcl3x into devel

[pre-commit.ci] pre-commit autoupdate

for more information, see https://pre-commit.ci

updates:
- [github.com/psf/black: 23.12.1 → 24.1.1](https://github.com/psf/black/compare/23.12.1...24.1.1)

CMake: use Findassimp from jrl cmake module

Merge with v2.4.1