MeshShapeCollisionTraversalNode::leafCollides can create a contact with all values set to NaN

[jorisv]

When running the test test_talos in pinocchio-test-cpp-parallel-geometry we run into a failure because geometry_data_ref.collisionResults[k].getContacts() is filled with NaN.

This is because runGJKAndEPA fall in the details::GJK::NoCollisionEarlyStopped stop criterion. Then, MeshShapeCollisionTraversalNode::leafCollides don't filter this output and create a Contact even if there is no collision.

[lmontaut]

Thanks @jorisv
I will look into it soon

[sea-bass]

I'm also seeing this with the Python bindings in trying to upgrade my library. Specifically:

1. Get this branch: Upgrade to Pinocchio 3.3.1 and Drake 1.36.0 sea-bass/pyroboplan#77
2. Try out the examples/collision_along_path.py example
3. The collisions between the Franka meshes and the cube are identified, but all the nearest points are NaN. The sphere collisions look fine.