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[trajoptlib] Clean up trajopt utilities #1429

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Job	Run time
Windows-x86_64	9m 13s
Windows-aarch64	10m 37s
macOS-x86_64	8m 49s
macOS-aarch64	2m 19s
Linux-x86_64	8m 32s
Create draft release	0s
	39m 30s