Use pinocchio from conda-forge rather than PyPI

As of today, the Pinocchio version on PyPI is 2.7.0 while that on
conda-forge is 3.3.0

Author: stephane-caron

Diff for: .github/workflows/test.yml

@@ -65,7 +65,7 @@ jobs:
         strategy:
             matrix:
                 python-version: ["3.9"]
-                loader: ["idyntree", "mujoco", "pinocchio", "pybullet", "robomeshcat", "yourdfpy"]
+                loader: ["idyntree", "mujoco", "pybullet", "robomeshcat", "yourdfpy"]
 
         steps:
             - name: "Checkout sources"
@@ -85,6 +85,38 @@ jobs:
               run: |
                   tox -e loader-${{ matrix.loader }}
 
+    loader-pinocchio:
+        name: "Loader: pinocchio with Python ${{ matrix.python-version }}"
+        runs-on: ubuntu-latest
+
+        strategy:
+            matrix:
+                python-version: ["3.9"]
+
+        defaults:
+            run:
+                # See https://github.com/mamba-org/setup-micromamba?tab=readme-ov-file#about-login-shells
+                shell: bash -leo pipefail {0}
+
+        steps:
+            - name: "Checkout sources"
+              uses: actions/checkout@v4
+
+            - name: "Install Conda environment with Micromamba"
+              uses: mamba-org/setup-micromamba@v1
+              with:
+                  micromamba-version: '1.5.8-0'
+                  environment-name: pinocchio_test_env
+                  create-args: >-
+                      python=${{ matrix.python-version }}
+                      pinocchio>=3.1.0
+                  cache-environment: true
+                  post-cleanup: 'all'
+
+            - name: "Run loader tests"
+              run: |
+                  python -m unittest tests/loaders/test_pinocchio.py --failfast
+
     ci_success:
         name: "CI success"
         runs-on: ubuntu-latest

Diff for: tox.ini

@@ -59,13 +59,6 @@ deps =
 commands =
     python -m unittest test_mujoco.py --failfast
 
-[testenv:loader-pinocchio]
-changedir = {toxinidir}/tests/loaders
-deps =
-    pin >= 3.1.0
-commands =
-    python -m unittest test_pinocchio.py --failfast
-
 [testenv:loader-pybullet]
 changedir = {toxinidir}/tests/loaders
 deps =