Build hpp-fcl for Mac OS X/Linux via pip

Merge pull request #584 from lmontaut/topic/random-transform #752

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	13m 45s
CI on ubuntu / py 3.9 with pip	13m 44s
CI on ubuntu / py 3.10 with pip	13m 28s
CI on ubuntu / py 3.11 with pip	13m 49s
CI on ubuntu / py 3.12 with pip	13m 54s
CI on macos / py 3.9 with pip	8m 12s
CI on macos / py 3.10 with pip	6m 34s
CI on macos / py 3.11 with pip	7m 23s
CI on macos / py 3.12 with pip	6m 28s
	1h 37m 17s