Clean up CI script, add Mac arm64 and Ubuntu 22 builds

[nickbianco]

Fixes issue #3944

Brief summary of changes

• Updates continuous_integration.yml to include separate jobs for Mac x64 and Arm64 architectures.
• Removed the "no Moco" Ubuntu job and replaced it with an Ubuntu 22 job.
• Fixed a compiler error in WrapEllipsoid related to indexing a Mat44 that was causing the Ubuntu 22 job to fail.

Testing I've completed

Ran the CI, and ran both the Windows and Mac performance analysis workflows.

Looking for feedback on...

CHANGELOG.md (choose one)

• no need to update because...CI updates.

Performance analysis

Platform: Mac, GitHub Actions runner

Test Name	lhs [secs]	stderr [secs]	rhs [secs]	stderr [secs]	Speedup
Arm26	0.35	0.72	0.36	0.78	0.97
ToyDropLanding_function_based_paths	3.57	0.00	3.59	0.00	0.99
passive_dynamic_noanalysis	1.12	0.00	1.13	0.00	0.99
ToyDropLanding	3.92	0.00	3.93	0.00	1.00
Gait2354	0.21	0.00	0.21	0.00	1.00
ToyDropLanding_fbp_stepwisereg	3.63	0.00	3.63	0.00	1.00
passive_dynamic	1.71	0.00	1.71	0.00	1.00
MocoSquatToStand	3.45	0.00	3.46	0.00	1.00
ToyDropLanding_nomuscles	0.20	0.00	0.20	0.00	1.00
ellipsoid_wrap_function_based_paths	1.09	0.00	1.08	0.00	1.00
ellipsoid_wrap	1.28	0.00	1.28	0.00	1.00
MocoSlidingMass	0.57	0.00	0.57	0.00	1.00
RajagopalModel	3.14	0.00	3.14	0.00	1.00

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This change is 

[aymanhab]

@nickbianco For the record the LD_LIBRARY_PATH changes appear to have been lost before the python tests are run on ubuntu. If everything else passes though then feel free to merge and I will take it on.

[nickbianco]

@aymanhab, gotcha. As discussed, we can come back around to this later to resolve the Python testing issues on Ubuntu.

[nickbianco]

Installing the Mac Arm64 build into a local conda environment fails. @aymanhab, thoughts? Looks like the rpaths are not being set correctly?

Python 3.10.15 (main, Oct  3 2024, 02:24:49) [Clang 14.0.6 ] on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import opensim as osim
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/__init__.py", line 18, in <module>
    from .simbody import *
  File "/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/simbody.py", line 10, in <module>
    from . import _simbody
ImportError: dlopen(/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/_simbody.so, 0x0002): Library not loaded: @rpath/libosimExampleComponents.dylib
  Referenced from: <35EB33C3-F08F-3BC8-A249-794230C5E39D> /Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/_simbody.so
  Reason: tried: '/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/../../../sdk/lib/libosimExampleComponents.dylib' (no such file), '/Users/runner/work/opensim-core/opensim-core-install/sdk/lib/libosimExampleComponents.dylib' (no such file), '/System/Volumes/Preboot/Cryptexes/OS/Users/runner/work/opensim-core/opensim-core-install/sdk/lib/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/../../../sdk/Simbody/lib/libosimExampleComponents.dylib' (no such file), '/Users/runner/work/opensim-core/opensim-core-install/sdk/Simbody/lib/libosimExampleComponents.dylib' (no such file), '/System/Volumes/Preboot/Cryptexes/OS/Users/runner/work/opensim-core/opensim-core-install/sdk/Simbody/lib/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/../../../sdk/lib/libosimExampleComponents.dylib' (no such file), '/Users/runner/work/opensim-core/opensim-core-install/sdk/lib/libosimExampleComponents.dylib' (no such file), '/System/Volumes/Preboot/Cryptexes/OS/Users/runner/work/opensim-core/opensim-core-install/sdk/lib/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/lib/python3.10/site-packages/opensim/../../../sdk/Simbody/lib/libosimExampleComponents.dylib' (no such file), '/Users/runner/work/opensim-core/opensim-core-install/sdk/Simbody/lib/libosimExampleComponents.dylib' (no such file), '/System/Volumes/Preboot/Cryptexes/OS/Users/runner/work/opensim-core/opensim-core-install/sdk/Simbody/lib/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/bin/../lib/libosimExampleComponents.dylib' (no such file), '/Users/nbianco/miniconda3/envs/zmp/bin/../lib/libosimExampleComponents.dylib' (no such file)

[aymanhab]

@nickbianco Conda makes some assumptions about layout. When we build conda package, the conda build system modifies rpaths accordingly. I'd test installing in non conda environment using setup.py etc. but not sure conda would work out of the box. I'd also test java/matlab
Just let me know what you want me to try/test to get this over the finish line

[nickbianco]

Yeah, it looks like python -m pip install . doesn't install the .dylibs anywhere in the conda environment. I'll try a different install approach and see what I get.

[nickbianco]

Using a Python venv fails too: nothing is copied into the /lib folder of the venv.

[nickbianco]

@aymanhab, this is ready for review. I didn't test the "Build GUI" workflow; let me know if you'd like that tested as well.

[aymanhab]

Would be good to test just for completeness though it has no dependencies on ci scripts.

[nickbianco]

@aymanhab, the GUI build job fails, I think because a personal access token needs to be added or updated. It's up to you if you consider that blocking here.

[aymanhab]

Thanks for trying it out @nickbianco Definitely not blocking, will review accordingly.

[aymanhab]

Reviewed 1 of 2 files at r1, 1 of 1 files at r5, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @nickbianco)

[nickbianco]

As discussed, the Ubuntu 22 failure is unrelated and the GUI build job will be resolved in a future PR.

Thanks @aymanhab!