[Problem] Fix constraint handling and projection defaults - #182
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The wrapper class pyhpp::core::Problem contained a member constraints_ that used to store constraints provided by users, but those constraints where never fowarded to class hpp::core::Problem. This fixes the benchmark of Pyrene sliding on the ground.
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Move projection defaults to in-class initializers so wrappers built from an existing problem, including manipulation problems, receive the same values. Add regression coverage for the active constraint set and manipulation defaults.
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Summary
hpp::core::Problemconstraint set as the single source of truth