C++/Python Tests

simply tests + add support for non-dynamic simulation in jax #10955

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Run time

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Job	Run time
Tests MacOS C++/Python	10m 33s
C++/Python tests Ubuntu (3.11)	42m 39s
Notebook tests Ubuntu (3.11)	17m 57s
Python tests Ubuntu (3.10)	34m 23s
Tests MacOS Python	24m 43s
	2h 10m 15s