GitHub Actions for keripy

Updates to support rotating a group AID to participant AIDs located in KERIA agents. #926

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Run time

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Job	Run time
scripts	1m 52s
interop-setup	0s
coverage	2m 27s
test (macos-latest)	3m 1s
test (ubuntu-latest)	1m 45s
build-interop-image	0s
	9m 5s