Fix np bug in LinearConstraintProjection

[YigitElma]

Resolves #2068

• Fixes the bug in factorize_linear_constraints for numpy array x_scale
• Removes any change applied to the user-supplied x_scale. For example, if I want to give a scale to lambda (to make it have a similar magnitude as R and Z) based on the major radius etc. currently I cannot because the check x<100 will override that scale.

[github-actions]

Memory benchmark result

|               Test Name                |      %Δ      |    Master (MB)     |      PR (MB)       |    Δ (MB)    |    Time PR (s)     |  Time Master (s)   |
| -------------------------------------- | ------------ | ------------------ | ------------------ | ------------ | ------------------ | ------------------ |
  test_objective_jac_w7x                 |    5.84 %    |     3.850e+03      |     4.075e+03      |    224.73    |       38.49        |       35.84        |
  test_proximal_jac_w7x_with_eq_update   |   -1.02 %    |     6.534e+03      |     6.468e+03      |    -66.42    |       161.60       |       160.96       |
  test_proximal_freeb_jac                |    0.23 %    |     1.321e+04      |     1.324e+04      |    30.85     |       83.43        |       82.03        |
  test_proximal_freeb_jac_blocked        |   -0.39 %    |     7.516e+03      |     7.487e+03      |    -29.07    |       71.79        |       72.01        |
  test_proximal_freeb_jac_batched        |    0.23 %    |     7.464e+03      |     7.481e+03      |    17.52     |       71.78        |       72.90        |
  test_proximal_jac_ripple               |   -0.87 %    |     3.478e+03      |     3.448e+03      |    -30.42    |       64.99        |       64.38        |
  test_proximal_jac_ripple_bounce1d      |   -1.98 %    |     3.568e+03      |     3.498e+03      |    -70.82    |       75.13        |       75.74        |
  test_eq_solve                          |   -1.32 %    |     2.016e+03      |     1.990e+03      |    -26.68    |       93.57        |       92.45        |

For the memory plots, go to the summary of Memory Benchmarks workflow and download the artifact.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.52%. Comparing base (7aa703f) to head (fd49608).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2067      +/-   ##
==========================================
- Coverage   94.52%   94.52%   -0.01%     
==========================================
  Files         102      102              
  Lines       28712    28713       +1     
==========================================
  Hits        27141    27141              
- Misses       1571     1572       +1     

Files with missing lines	Coverage Δ
desc/objectives/utils.py	100.00% <100.00%> (ø)

... and 2 files with indirect coverage changes

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[dpanici]

Add a test passing in D somewhere to ensure it runs without error?

[dpanici]

Test

[dpanici]

Overlap with #2032 ? at least the bug fix there

[YigitElma]

Overlap with #2032 ? at least the bug fix there

Oh yeah, the second bug is also fixed there. The first one is not.