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

Fix doc and optional value for contact patches #757

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Run time

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Job	Run time
CI on ubuntu / py 3.8 with pip	13m 25s
CI on ubuntu / py 3.9 with pip	13m 38s
CI on ubuntu / py 3.10 with pip	13m 26s
CI on ubuntu / py 3.11 with pip	13m 38s
CI on ubuntu / py 3.12 with pip	13m 15s
CI on macos / py 3.9 with pip	7m 15s
CI on macos / py 3.10 with pip	6m 26s
CI on macos / py 3.11 with pip	6m 51s
CI on macos / py 3.12 with pip	8m 24s
	1h 36m 18s