Python CI/CD

Refactor link_contact_forces to separate kinematic constraint forces … #4012

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Run time

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Job	Run time
Package the project	14s
Python3.10@ubuntu-latest	10m 39s
Python3.11@ubuntu-latest	11m 30s
Python3.12@ubuntu-latest	12m 42s
Python3.10@macos-latest	49s
Python3.11@macos-latest	26s
Python3.12@macos-latest	32s
Python3.10@windows-latest	1m 15s
Python3.11@windows-latest	1m 32s
Python3.12@windows-latest	1m 9s
Publish to PyPI	0s
	40m 48s