Upgrade to Pinocchio 3.x

[sea-bass]

Once Pinocchio 3.0 is out on PyPi, we should switch this library over... although it already is available on Conda-Forge, so development can certainly start. I'd still rather stick to pip install if possible, though, so happy to wait it out.

See stack-of-tasks/pinocchio#2265 for more details.

If HPP-FCL is also upgraded as part of this, it should give us the ability to get nearest/witness points from the CollisionRequest objects which should help with the collision-aware IK / trajectory optimization... I hope.