Python CI/CD

Compute contact forces inside `ode.system_acceleration` #3954

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Run time

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Job	Run time
Package the project	14s
Python3.10@ubuntu-latest	12m 3s
Python3.11@ubuntu-latest	21m 22s
Python3.12@ubuntu-latest	24m 21s
Python3.10@macos-latest	44s
Python3.11@macos-latest	25s
Python3.12@macos-latest	27s
Python3.10@windows-latest	1m 19s
Python3.11@windows-latest	1m 26s
Python3.12@windows-latest	1m 7s
Publish to PyPI	0s
	1h 3m 28s