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Upgrade TrajoptLib and fix angular velocity constraints #1941

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Job	Run time
Windows-x86_64	7m 50s
Windows-aarch64	7m 30s
macOS-x86_64	2m 35s
macOS-arm64	2m 31s
Linux-x86_64	5m 45s
Create draft release	0s
	26m 11s