Resolve CI errors

[AkshayThiru]

No description provided.

[Copilot]

Pull request overview

This PR aims to resolve CI/build failures by relaxing Eigen requirements, removing Eigen-dependent 2D cross usage in Graham scan, and adjusting tests/CI configuration to better match Ubuntu runner dependencies.

Changes:

• Update Eigen discovery/version expectations (CMake + README) and add apt-installed native deps in CI.
• Remove Eigen .cross() usage for 2D vectors in Graham scan (and tests) to avoid Eigen API incompatibilities.
• Adjust/trim tests and CI jobs to reduce current CI breakage (e.g., remove an unstable derivative test and drop wheel/coverage jobs).

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
CMakeLists.txt	Switch Eigen discovery to non-versioned find_package(Eigen3 ...) and log detected version.
README.md	Lower documented Eigen requirement to 3.4+.
docs/Usage.md	(Not changed) Still references Eigen 5.0 in example; flagged as inconsistent with README.
.github/workflows/ci.yml	Install Eigen/Qhull via apt for CI jobs; remove wheel build/test and C++ coverage jobs.
src/graham_scan.cc	Replace 2D .cross() call with explicit determinant formula; remove <Eigen/Dense> include.
tests/graham_scan_test.cc	Mirror Graham scan CCW computation change; remove <Eigen/Dense> include.
tests/local_geometry_test.cc	Fix expected normal-cone basis for a 3D capsule zero-margin case.
tests/solution_derivative_test.cc	Remove EllipsoidMesh derivative test that likely caused CI instability.
python/README.md	Remove wheel-building instructions (aligned with removal of wheel CI jobs).

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[Copilot]

Pull request overview

Copilot reviewed 9 out of 9 changed files in this pull request and generated 1 comment.

Comments suppressed due to low confidence (1)

.github/workflows/ci.yml:50

• The CI workflow no longer builds/tests a wheel install and no longer runs the C++ coverage job. If those checks are still intended to be part of CI quality gates, consider re-adding them (e.g., fix the original failures by installing native deps in those jobs as well, or move them to a scheduled/nightly workflow rather than removing entirely).

  cpp-build-test:
    runs-on: ubuntu-latest
    name: Build and test C++ library
    steps:

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