Python CI/CD

Slightly optimize computation for `RigidContacts` model #3382

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Run time

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Job	Run time
Package the project	17s
[email protected]	15m 22s
[email protected]	14m 53s
[email protected]	16m 30s
Python3.10@macos-latest	36s
Python3.11@macos-latest	31s
Python3.12@macos-latest	24s
Python3.10@windows-latest	1m 25s
Python3.11@windows-latest	1m 18s
Python3.12@windows-latest	2m 1s
Publish to PyPI	3s
	53m 20s