[feature] Pinocchio: Add support for collision option

[uilianries]

Issue coming from PR #29170:

"""
I believe the issue is slightly more complicated, and not well represented by the change in the single variable in this PR. I wonder if you could help.

https://github.com/coal-library/coal library, which is a dependency of pinocchio (once the COLLISION_SUPPORT is ON), used to be called hpp-fcl before.
As a result, they require a variable COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL to be set to ON in order to maintain the backward compatibility with packages still using hpp-fcl names and paths.
Coal installs an hpp-fclConfig.cmake in the lib/cmake/hpp-fcl folder in order to provide configuration settings for downstream packages.

I tried to set the above two variables in the two packages ON locally, however pinocchio failed to install.
pinocchio is searching for find_package(hpp-fcl) here: https://github.com/stack-of-tasks/pinocchio/blob/devel/CMakeLists.txt#L347 , which it does not find through the conan dependency tree.
"""

Originally posted by @proyan in #29170 (comment)

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The Coal recipe in CCI lacks exposing hpp-fcl CMake config file: https://github.com/coal-library/coal/blob/devel/hpp-fclConfig.cmake

Pinocchio's recipe will require both a new option and Coal as a new dependency to make it work.