Related to #2516, we discovered with @jorisv that some algorithms and structures of pinocchio_default can have new behaviours if collision support is added.

See the following for an example:

This behavior was not problematic prior to v3.0.0 and the split of Pinocchio into smaller libraries. Since then, these mixed algorithms are not compiled with collision support, since they are in pinocchio default.

@jorisv provided a quick fix in #2517, but it's not a long term solution.

We should find a way to better handle these cases.