Choreo / Build

[trajoptlib] Clean up trajopt utilities (#925) #1434

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Run time

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Job	Run time
Windows-x86_64	11m 13s
Windows-aarch64	12m 19s
macOS-x86_64	2m 47s
macOS-aarch64	2m 31s
Linux-x86_64	4m 34s
Create draft release	0s
	33m 24s